| 467 | function CropSensor.getMaxWorkingWidth(sensorVehicle) |
| 468 | local childVehicles = sensorVehicle.rootVehicle.childVehicles |
| 469 | |
| 470 | local maxWidth = 0 |
| 471 | |
| 472 | for i=1, #childVehicles do |
| 473 | local childVehicle = childVehicles[i] |
| 474 | if SpecializationUtil.hasSpecialization(ExtendedSprayer, childVehicle.specializations) then |
| 475 | if childVehicle.getWorkAreaByIndex ~= nil then |
| 476 | local workAreas = childVehicle.spec_workArea.workAreas |
| 477 | for j=1, #workAreas do |
| 478 | local workArea = workAreas[j] |
| 479 | if workArea.start ~= nil and workArea.width ~= nil then |
| 480 | local width = calcDistanceFrom(workArea.start, workArea.width) |
| 481 | maxWidth = math.max(maxWidth, width) |
| 482 | |
| 483 | local x1, _, _ = localToLocal(workArea.start, sensorVehicle.rootNode, 0, 0, 0) |
| 484 | local x2, _, _ = localToLocal(workArea.width, sensorVehicle.rootNode, 0, 0, 0) |
| 485 | maxWidth = math.max(maxWidth, math.abs(x1) * 2, math.abs(x2) * 2) |
| 486 | end |
| 487 | end |
| 488 | end |
| 489 | |
| 490 | if childVehicle.getAIMarkers ~= nil then |
| 491 | local leftMarker, rightMarker, _, _ = childVehicle:getAIMarkers() |
| 492 | if leftMarker ~= nil and rightMarker ~= nil then |
| 493 | local width = calcDistanceFrom(leftMarker, rightMarker) |
| 494 | maxWidth = math.max(maxWidth, width) |
| 495 | |
| 496 | local x1, _, _ = localToLocal(leftMarker, sensorVehicle.rootNode, 0, 0, 0) |
| 497 | local x2, _, _ = localToLocal(rightMarker, sensorVehicle.rootNode, 0, 0, 0) |
| 498 | maxWidth = math.max(maxWidth, math.abs(x1) * 2, math.abs(x2) * 2) |
| 499 | end |
| 500 | end |
| 501 | end |
| 502 | end |
| 503 | |
| 504 | return maxWidth |
| 505 | end |
| 47 | function CropSensor.initSpecialization() |
| 48 | g_configurationManager:addConfigurationType("cropSensor", g_i18n:getText("configuration_cropSensor"), "cropSensor", nil, nil, nil, ConfigurationUtil.SELECTOR_MULTIOPTION) |
| 49 | |
| 50 | local schema = Vehicle.xmlSchema |
| 51 | schema:setXMLSpecializationType("CropSensor") |
| 52 | |
| 53 | schema:register(XMLValueType.NODE_INDEX, "vehicle.cropSensor.sensorNode(?)#node", "Sensor Node") |
| 54 | schema:register(XMLValueType.NODE_INDEX, "vehicle.cropSensor.sensorNode(?)#lightNode", "Real light source node") |
| 55 | schema:register(XMLValueType.NODE_INDEX, "vehicle.cropSensor.sensorNode(?)#staticLight", "Static light shape") |
| 56 | schema:register(XMLValueType.FLOAT, "vehicle.cropSensor.sensorNode(?)#radius", "Sensor radius", 18) |
| 57 | schema:register(XMLValueType.BOOL, "vehicle.cropSensor.sensorNode(?)#requiresDaylight", "Sensor requires daylight to work", false) |
| 58 | schema:register(XMLValueType.STRING, "vehicle.cropSensor.sensorNode(?)#pattern", "Sensor pattern (OCTAGON | ?)", "OCTAGON") |
| 59 | |
| 60 | CropSensor.registerSensorLinkNodePaths(schema, "vehicle.cropSensor.cropSensorConfigurations.cropSensorConfiguration(?).sensorLinkNode(?)") |
| 61 | |
| 62 | schema:setXMLSpecializationType() |
| 63 | end |
| 409 | function CropSensor:linkCropSensor(linkData) |
| 410 | for i=1, #linkData.linkNodes do |
| 411 | local linkNodeData = linkData.linkNodes[i] |
| 412 | |
| 413 | local linkNode = linkNodeData.node |
| 414 | if linkNode == nil and linkNodeData.nodeName ~= nil then |
| 415 | if self.i3dMappings[linkNodeData.nodeName] ~= nil then |
| 416 | linkNode = self.i3dMappings[linkNodeData.nodeName].nodeId |
| 417 | end |
| 418 | end |
| 419 | |
| 420 | if linkNode ~= nil then |
| 421 | local sensorData = g_precisionFarming:getClonedCropSensorNode(linkNodeData.typeName) |
| 422 | if sensorData ~= nil then |
| 423 | link(linkNode, sensorData.node) |
| 424 | |
| 425 | setTranslation(sensorData.node, linkNodeData.translation[1], linkNodeData.translation[2], linkNodeData.translation[3]) |
| 426 | setRotation(sensorData.node, linkNodeData.rotation[1], linkNodeData.rotation[2], linkNodeData.rotation[3]) |
| 427 | |
| 428 | for j=1, #sensorData.rotationNodes do |
| 429 | local rotationNode = sensorData.rotationNodes[j] |
| 430 | |
| 431 | local autoRotate = false |
| 432 | if linkNodeData.rotationNodes[j] ~= nil then |
| 433 | local vRotationNode = linkNodeData.rotationNodes[j] |
| 434 | if rotationNode.autoRotate and vRotationNode.autoRotate ~= false and vRotationNode.rotation == nil then |
| 435 | autoRotate = true |
| 436 | elseif vRotationNode.rotation ~= nil then |
| 437 | setRotation(rotationNode.node, vRotationNode.rotation[1], vRotationNode.rotation[2], vRotationNode.rotation[3]) |
| 438 | end |
| 439 | else |
| 440 | autoRotate = rotationNode.autoRotate |
| 441 | end |
| 442 | |
| 443 | if autoRotate then |
| 444 | local rx, ry, rz = localRotationToLocal(self:getParentComponent(sensorData.node), getParent(rotationNode.node), 0, 0, 0) |
| 445 | setRotation(rotationNode.node, rx, ry, rz) |
| 446 | end |
| 447 | end |
| 448 | |
| 449 | if sensorData.measurementNode ~= nil then |
| 450 | local sensorNode = {} |
| 451 | sensorNode.node = sensorData.measurementNode |
| 452 | sensorNode.radius = 10 |
| 453 | sensorNode.origRadius = sensorNode.radius |
| 454 | sensorNode.pattern = linkNodeData.typeName == "SENSOR_LEFT" and CropSensor.PATTERN_CORNER_LEFT or CropSensor.PATTERN_CORNER_RIGHT |
| 455 | sensorNode.requiresDaylight = sensorData.requiresDaylight |
| 456 | sensorNode.index = 1 |
| 457 | |
| 458 | table.insert(self.spec_cropSensor.sensorNodes, sensorNode) |
| 459 | end |
| 460 | end |
| 461 | end |
| 462 | end |
| 463 | end |
| 98 | function CropSensor:onLoad(savegame) |
| 99 | self.spec_cropSensor = self["spec_" .. CropSensor.SPEC_NAME] |
| 100 | local spec = self.spec_cropSensor |
| 101 | |
| 102 | local baseName = "vehicle.cropSensor" |
| 103 | |
| 104 | spec.sensorNodes = {} |
| 105 | self.xmlFile:iterate(baseName .. ".sensorNode", function(index, key) |
| 106 | local sensorNode = {} |
| 107 | sensorNode.node = self.xmlFile:getValue(key .. "#node", nil, self.components, self.i3dMappings) |
| 108 | if sensorNode.node ~= nil then |
| 109 | sensorNode.radius = self.xmlFile:getValue(key .. "#radius", 20) |
| 110 | sensorNode.origRadius = sensorNode.radius |
| 111 | sensorNode.requiresDaylight = self.xmlFile:getValue(key .. "#requiresDaylight", false) |
| 112 | local patternStr = self.xmlFile:getValue(key .. "#pattern", "OCTAGON") |
| 113 | local pattern = CropSensor["PATTERN_" .. patternStr:upper()] |
| 114 | if pattern == nil then |
| 115 | Logging.xmlWarning(self.xmlFile, "Wrong pattern '%s' ground in '%s'", patternStr, key) |
| 116 | end |
| 117 | |
| 118 | sensorNode.lightNode = self.xmlFile:getValue(key .. "#lightNode", nil, self.components, self.i3dMappings) |
| 119 | if sensorNode.lightNode ~= nil then |
| 120 | setVisibility(sensorNode.lightNode, false) |
| 121 | end |
| 122 | |
| 123 | sensorNode.staticLight = self.xmlFile:getValue(key .. "#staticLight", nil, self.components, self.i3dMappings) |
| 124 | if sensorNode.staticLight ~= nil then |
| 125 | setShaderParameter(sensorNode.staticLight, "lightControl", 0, 0, 0, 0, false) |
| 126 | end |
| 127 | |
| 128 | sensorNode.pattern = pattern or CropSensor.PATTERN_OCTAGON |
| 129 | sensorNode.index = 1 |
| 130 | |
| 131 | table.insert(spec.sensorNodes, sensorNode) |
| 132 | end |
| 133 | end) |
| 134 | |
| 135 | spec.isStandaloneSensor = #spec.sensorNodes > 0 |
| 136 | spec.inputActionToggle = InputAction.PRECISIONFARMING_TOGGLE_CROP_SENSOR |
| 137 | |
| 138 | local configIndex = self.configurations["cropSensor"] |
| 139 | if configIndex ~= nil then |
| 140 | local configKey = string.format("vehicle.cropSensor.cropSensorConfigurations.cropSensorConfiguration(%d)", configIndex - 1) |
| 141 | |
| 142 | spec.sensorLinkNodeData = {} |
| 143 | spec.sensorLinkNodeData.linkNodes = {} |
| 144 | self.xmlFile:iterate(configKey .. ".sensorLinkNode", function(index, key) |
| 145 | local linkNode = {} |
| 146 | linkNode.node = self.xmlFile:getValue(key .. "#node", nil, self.components, self.i3dMappings) |
| 147 | if linkNode.node ~= nil then |
| 148 | linkNode.typeName = self.xmlFile:getValue(key .. "#type", "SENSOR_LEFT"):upper() |
| 149 | linkNode.translation = self.xmlFile:getValue(key .. "#translation", "0 0 0", true) |
| 150 | linkNode.rotation = self.xmlFile:getValue(key .. "#rotation", "0 0 0", true) |
| 151 | |
| 152 | linkNode.rotationNodes = {} |
| 153 | self.xmlFile:iterate(key .. ".rotationNode", function(_, rotationNodeKey) |
| 154 | local rotatioNode = {} |
| 155 | rotatioNode.autoRotate = self.xmlFile:getValue(rotationNodeKey .. "#autoRotate") |
| 156 | rotatioNode.rotation = self.xmlFile:getValue(rotationNodeKey .. "#rotation", nil, true) |
| 157 | |
| 158 | table.insert(linkNode.rotationNodes, rotatioNode) |
| 159 | end) |
| 160 | |
| 161 | table.insert(spec.sensorLinkNodeData.linkNodes, linkNode) |
| 162 | end |
| 163 | end) |
| 164 | |
| 165 | if #spec.sensorLinkNodeData.linkNodes > 0 then |
| 166 | self:linkCropSensor(spec.sensorLinkNodeData) |
| 167 | end |
| 168 | |
| 169 | if configIndex > 1 then |
| 170 | if g_precisionFarming ~= nil then |
| 171 | local linkData = g_precisionFarming:getCropSensorLinkageData(self.configFileName) |
| 172 | if linkData ~= nil then |
| 173 | self:linkCropSensor(linkData) |
| 174 | end |
| 175 | end |
| 176 | end |
| 177 | end |
| 178 | |
| 179 | spec.isAvailable = #spec.sensorNodes > 0 |
| 180 | spec.isActive = false |
| 181 | |
| 182 | spec.workingWidth = 0 |
| 183 | |
| 184 | if spec.isAvailable then |
| 185 | spec.texts = {} |
| 186 | spec.texts.toggleCropSensorPos = g_i18n:getText("action_toggleCropSensorPos", self.customEnvironment) |
| 187 | spec.texts.toggleCropSensorNeg = g_i18n:getText("action_toggleCropSensorNeg", self.customEnvironment) |
| 188 | spec.texts.warningSensorDaylight = g_i18n:getText("warning_sensorRequiresDaylight", self.customEnvironment) |
| 189 | |
| 190 | if g_precisionFarming ~= nil then |
| 191 | spec.soilMap = g_precisionFarming.soilMap |
| 192 | spec.coverMap = g_precisionFarming.coverMap |
| 193 | spec.nitrogenMap = g_precisionFarming.nitrogenMap |
| 194 | spec.farmlandStatistics = g_precisionFarming.farmlandStatistics |
| 195 | end |
| 196 | end |
| 197 | end |
| 257 | function CropSensor:onRootVehicleChanged(rootVehicle) |
| 258 | if self.isServer then |
| 259 | local spec = self.spec_cropSensor |
| 260 | if spec.isAvailable then |
| 261 | local actionController = rootVehicle.actionController |
| 262 | if actionController ~= nil then |
| 263 | if spec.controlledAction ~= nil then |
| 264 | spec.controlledAction:updateParent(actionController) |
| 265 | return |
| 266 | end |
| 267 | |
| 268 | spec.controlledAction = actionController:registerAction("cropSensorTurnOn", nil, 1) |
| 269 | spec.controlledAction:setCallback(self, CropSensor.actionControllerToggleEvent) |
| 270 | spec.controlledAction:setFinishedFunctions(self, function() return spec.isActive end, true, false) |
| 271 | spec.controlledAction:setIsSaved(true) |
| 272 | |
| 273 | spec.controlledAction:addAIEventListener(self, "onAIFieldWorkerStart", 1) |
| 274 | spec.controlledAction:addAIEventListener(self, "onAIFieldWorkerEnd", -1) |
| 275 | |
| 276 | spec.controlledAction:addAIEventListener(self, "onAIImplementStart", 1) |
| 277 | spec.controlledAction:addAIEventListener(self, "onAIImplementEnd", -1) |
| 278 | else |
| 279 | if spec.controlledAction ~= nil then |
| 280 | spec.controlledAction:remove() |
| 281 | end |
| 282 | end |
| 283 | end |
| 284 | end |
| 285 | end |
| 326 | function CropSensor:setCropSensorActive(state, noEventSend) |
| 327 | local spec = self.spec_cropSensor |
| 328 | if state == nil then |
| 329 | state = not spec.isActive |
| 330 | end |
| 331 | |
| 332 | if state ~= spec.isActive then |
| 333 | if self.isClient then |
| 334 | for i=1, #spec.sensorNodes do |
| 335 | local sensorNode = spec.sensorNodes[i] |
| 336 | if sensorNode.lightNode ~= nil then |
| 337 | setVisibility(sensorNode.lightNode, state) |
| 338 | end |
| 339 | if sensorNode.staticLight ~= nil then |
| 340 | setShaderParameter(sensorNode.staticLight, "lightControl", state and 0.2 or 0, 0, 0, 0, false) |
| 341 | end |
| 342 | end |
| 343 | end |
| 344 | |
| 345 | if state then |
| 346 | self:updateCropSensorWorkingWidth() |
| 347 | end |
| 348 | |
| 349 | spec.isActive = state |
| 350 | |
| 351 | CropSensor.updateActionEventTexts(self) |
| 352 | CropSensorStateEvent.sendEvent(self, state, noEventSend) |
| 353 | end |
| 354 | end |
| 386 | function CropSensor:updateSensorNode(sensorNode, radius, pattern, index) |
| 387 | local spec = self.spec_cropSensor |
| 388 | |
| 389 | if index > #pattern then |
| 390 | index = 1 |
| 391 | end |
| 392 | |
| 393 | for i=index, math.min(index+CropSensor.MAX_UPDATES_PER_FRAME-1, #pattern) do |
| 394 | local position = pattern[i] |
| 395 | local xs, _, zs = localToWorld(sensorNode, position[1] * radius, position[2] * radius, position[3] * radius) |
| 396 | local xw, _, zw = localToWorld(sensorNode, position[4] * radius, position[5] * radius, position[6] * radius) |
| 397 | local xh, _, zh = localToWorld(sensorNode, position[7] * radius, position[8] * radius, position[9] * radius) |
| 398 | |
| 399 | spec.nitrogenMap:updateCropSensorArea(xs, zs, xw, zw, xh, zh) |
| 400 | |
| 401 | index = i |
| 402 | end |
| 403 | |
| 404 | return index + 1 |
| 405 | end |