6.03.00020 Mode2/3 improvements

- Wait before starting the next row if the
rendezvous point is close to the row end.
- use A* to calculate distance to combine before the
rendezvous.
- combine notifies unloader on missed rendezvous, unloader
re-plans route
- try to approach combine waiting after backing out of the fruit
from the rear so we won't cut in front of it.
- don't slow down around rendezvous when discharging already
- don't ask for a rendezvous when the combine is not willing to,
for example when unload is disabled on the first headland.
- won't initiate new rendezvous until the combine cancels the current one
- move up rendezvous points close to row end
- pipe in fruit map changed to have a 20 m buffer at each end of the
row to account for non-perpendicular headlands.
- fixed offsets when calculating target to combine, sometimes it
used the side offset as front offset.
- make sure to reset 95% full limit after making pocket
- added safety margin to the calculation of the distance until full
All this to avoid the situation where the combine stops before reaching
the rendezvous point because it thinks it is full (although only 95%)
- only considers unloaders actually waiting for assignment,
ignore the ones on unload course for example when a combine
is looking for an unloader
- if an unloader is already assigned to a combine, only it is
waiting for the combine to become ready for unload (for example
due to fruit in pipe), assign the same combine to it. This
should probably be refactored, adding a new state for the unloader,
like WAITING_FOR_COMBINE_TO_BECOME_READY or so.

CombineUnloadManager.lua

@@ -54,7 +54,7 @@ function CombineUnloadManager:addNewCombines()
 		-- this isn't needed as combines will be added when an CombineAIDriver is created for them
 		-- but we want to be able to reload this file on the fly when developing/troubleshooting
 		for _, vehicle in pairs(g_currentMission.vehicles) do
-			if vehicle.cp.driver and vehicle.cp.driver.is_a and vehicle.cp.driver:is_a(CombineAIDriver) and not self.combines[vehicle] then
+			if vehicle.cp.driver and vehicle.cp.driver.isACombineAIDriver and not self.combines[vehicle] then
 				self:addCombineToList(vehicle, vehicle.cp.driver)
 			end
 		end
@@ -131,7 +131,7 @@ function CombineUnloadManager:releaseUnloaderFromCombine(unloader, combine, noEv
 			self:debug('Released unloader %s from %s', nameNum(unloader), nameNum(combine))
 			table.remove(self.combines[combine].unloaders, ix)
 			if not noEventSend then 
-				UnloaderEvents:sendRelaseUnloaderEvent(unloader,combine)
+				UnloaderEvents:sendReleaseUnloaderEvent(unloader,combine)
 			end
 		end
 	end
@@ -145,7 +145,7 @@ function CombineUnloadManager:addUnloaderToCombine(unloader,combine,noEventSend)
 			UnloaderEvents:sendAddUnloaderToCombine(unloader,combine)
 		end
 	else
-		self:debug('%s is already assigned to combine %s as	 #%d', nameNum(unloader), nameNum(combine), #self.combines[combine].unloaders)
+		self:debug('%s is already assigned to combine %s as	number %d', nameNum(unloader), nameNum(combine), #self.combines[combine].unloaders)
 	end
 end
 
@@ -186,15 +186,21 @@ function CombineUnloadManager:giveMeACombineToUnload(unloader)
 	end
 	--then try to find a combine
 	local combine = self:getCombineWithMostFillLevel(unloader)
-	self:debug('Combine with most fill level is %s', combine and combine:getName() or 'N/A')
+	self:debug('Combine with most fill level is %s', nameNum(combine))
 	local bestUnloader
 	if combine ~= nil and combine.cp.driver:getFieldworkCourse() then
 		if combine.cp.settings.combineWantsCourseplayer:is(true) then
 			self:addUnloaderToCombine(unloader,combine)
 			combine.cp.settings.combineWantsCourseplayer:set(false)
 			return combine
 		end
-		local unloaders = self:getUnloaders(combine)
+		local num = self:getUnloadersNumber(unloader, combine)
+		if num then
+			-- awesome, we are on the list already.
+			self:debug('%s already assigned to %s as #%d', nameNum(unloader), nameNum(combine), num)
+			return combine
+		end
+		local unloaders = self:getIdleUnloaders(combine)
 		if combine.cp.settings.driverPriorityUseFillLevel:is(true) then
 			bestUnloader = self:getFullestUnloader(combine, unloaders)
 			self:debug('Priority fill level, best unloader %s', bestUnloader and nameNum(bestUnloader) or 'N/A')
@@ -203,13 +209,20 @@ function CombineUnloadManager:giveMeACombineToUnload(unloader)
 			self:debug('Priority closest, best unloader %s', bestUnloader and nameNum(bestUnloader) or 'N/A')
 		end
 		if bestUnloader == unloader then
-      if self:getCombinesFillLevelPercent(combine) > unloader.cp.driver:getFillLevelThreshold() or	combine.cp.driver:willWaitForUnloadToFinish() then
-				self:debug("%s: fill level %.1f, waiting for unload", nameNum(combine), self:getCombinesFillLevelPercent(combine))
+			local combineFillLevelPercent = self:getCombinesFillLevelPercent(combine)
+			local willWait = combine.cp.driver:willWaitForUnloadToFinish()
+			if combineFillLevelPercent > unloader.cp.driver:getFillLevelThreshold() or willWait then
+				self:debug("%s: fill level %.1f (unloader threshold %.1f), waiting for unload", nameNum(combine),
+						combineFillLevelPercent, unloader.cp.driver:getFillLevelThreshold())
 				self:addUnloaderToCombine(unloader, combine)
 				return combine
 			else
+				self:debug("%s: fill level %.1f (unloader threshold %.1f), combine will wait %s (no unloader assigned)",
+						nameNum(combine), combineFillLevelPercent, unloader.cp.driver:getFillLevelThreshold(), tostring(willWait))
 				return nil, combine
 			end
+		else
+			self:debug('Best unloader %s is not the one requesting (%s)', nameNum(bestUnloader), nameNum(unloader))
 		end
 	end
 end
@@ -232,14 +245,19 @@ end
 function CombineUnloadManager:getCombineWithMostFillLevel(unloader)
 	local mostFillLevel = 0
 	local combineToReturn
-	for combine,_ in pairs(unloader.cp.driver:getAssignedCombines()) do
+	for combine, _ in pairs(unloader.cp.driver:getAssignedCombines()) do
 		local data = self.combines[combine]
 		-- if there is no unloader assigned or this unloader is already assigned as the first
-		if data and data.isCombine and (self:getNumUnloaders(combine) == 0 or self:getUnloaderIndex(unloader, combine) == 1) then
+		local numUnloaders = self:getNumUnloaders(combine)
+		local unloaderIndex = self:getUnloaderIndex(unloader, combine)
+		local fillLevelPct = combine.cp.driver:getFillLevelPercentage()
+		local combineReadyToUnload = combine.cp.driver:isReadyToUnload(unloader.cp.settings.useRealisticDriving:is(true))
+		self:debug('For unloader %s: %s (fill level %.1f, ready to unload: %s) has %d unloaders, this unloader is # %d',
+				nameNum(unloader), nameNum(combine), fillLevelPct, tostring(combineReadyToUnload), numUnloaders, unloaderIndex or -1)
+		if data and data.isCombine and (numUnloaders == 0 or unloaderIndex == 1) and combineReadyToUnload then
 			if combine.cp.settings.combineWantsCourseplayer:is(true) then
 				return combine
 			end
-			local fillLevelPct = combine.cp.driver:getFillLevelPercentage()
 			if mostFillLevel < fillLevelPct then
 				mostFillLevel = fillLevelPct
 				combineToReturn = combine
@@ -249,11 +267,12 @@ function CombineUnloadManager:getCombineWithMostFillLevel(unloader)
 	return combineToReturn
 end
 
-function CombineUnloadManager:getUnloaders(combine)
+function CombineUnloadManager:getIdleUnloaders(combine)
 	local unloaders = {}
 	if g_currentMission then
 		for _, vehicle in pairs(g_currentMission.vehicles) do
-			if vehicle.cp.driver and vehicle.cp.driver:is_a(CombineUnloadAIDriver) then
+			if vehicle.cp.driver and vehicle.cp.driver.isACombineUnloadAIDriver and
+					vehicle.cp.driver:isWaitingForAssignment() then
 				-- TODO: refactor and move assignedCombines into the CombineUnloadAIDriver
 				local assignedCombines = vehicle.cp.driver:getAssignedCombines()
 				if assignedCombines[combine] then
@@ -316,7 +335,7 @@ end
 function CombineUnloadManager:removeInactiveCombines()
 	local vehiclesToRemove = {}
 	for vehicle, _ in pairs (self.combines) do
-		if not vehicle.cp.driver or not vehicle.cp.driver:is_a(CombineAIDriver) then
+		if not vehicle.cp.driver or not vehicle.cp.driver.isACombineAIDriver then
 			table.insert(vehiclesToRemove, vehicle)
 		end
 	end

Events/UnloaderEvents.lua

@@ -58,7 +58,7 @@ function UnloaderEvents:run(connection) -- wir fuehren das empfangene event aus
 	end;
 end
 
-function UnloaderEvents:sendRelaseUnloaderEvent(unloader,combine)
+function UnloaderEvents:sendReleaseUnloaderEvent(unloader,combine)
     if g_server ~= nil then
         -- Server have to broadcast to all clients and himself
         g_server:broadcastEvent(UnloaderEvents:new(unloader,combine,self.TYPE_REMOVE_FROM_COMBINE))

GlobalSettings.lua

@@ -70,7 +70,7 @@ AutoRepairSetting.OFF = 0
 function AutoRepairSetting:init()
 	SettingList.init(self, 'autoRepair', 'COURSEPLAY_AUTOREPAIR', 'COURSEPLAY_AUTOREPAIR_TOOLTIP', nil,
 			{AutoRepairSetting.OFF,  25, 70, 99},
-			{'COURSEPLAY_AUTOREPAIR_OFF', '< 25%', '< 70%', 'COURSEPALY_AUTOREPAIR_ALWAYS'}
+			{'COURSEPLAY_AUTOREPAIR_OFF', '< 25%', '< 70%', 'COURSEPLAY_AUTOREPAIR_ALWAYS'}
 		)
 	self:set(0)
 end

TrafficCollision.lua

@@ -506,13 +506,15 @@ function TrafficConflictDetector:updateCollisionBoxes(course, ix, nominalSpeed,
 
 	local positions
 	if course then
-		positions = course:getPositionsOnCourse(nominalSpeed, ix, TrafficConflictDetector.boxDistance, TrafficConflictDetector.numTrafficCollisionTriggers)
+		positions = course:getPositionsOnCourse(nominalSpeed, ix,
+				TrafficConflictDetector.boxDistance, TrafficConflictDetector.numTrafficCollisionTriggers)
+		self:debug('updating collision boxes at waypoint %d, have %d positions', ix, #positions)
 	else
 		positions = self:getPositionsAtDirection(nominalSpeed, moveForwards, directionNode)
+		self:debug('updating collision boxes (no course), have %d positions', #positions)
 	end
 	local posIx = 1
 	local eta = 0
-	self:debug('updating collision boxes at waypoint %d, have %d positions', ix, #positions)
 	if #positions > 0 then
 		for i, trigger in ipairs(self.trafficCollisionTriggers) do
 			local d = (i - 1) * TrafficConflictDetector.boxDistance

Waypoint.lua

@@ -408,17 +408,19 @@ function Course:enrichWaypointData()
 	self.waypoints[#self.waypoints].turnsToHere = self.totalTurns
 	self.waypoints[#self.waypoints].calculatedRadius = self:calculateRadius(#self.waypoints)
 	self.waypoints[#self.waypoints].reverseOffset = self:isReverseAt(#self.waypoints)
-	-- now add distance to next turn for the combines
-	local dToNextTurn, lNextRow = 0, 0
+	-- now add some metadata for the combines
+	local dToNextTurn, lNextRow, nextRowStartIx = 0, 0, 0
 	local turnFound = false
 	for i = #self.waypoints - 1, 1, -1 do
 		if turnFound then
 			dToNextTurn = dToNextTurn + self.waypoints[i].dToNext
 			self.waypoints[i].dToNextTurn = dToNextTurn
 			self.waypoints[i].lNextRow = lNextRow
+			self.waypoints[i].nextRowStartIx = nextRowStartIx
 		end
 		if self:isTurnStartAtIx(i) then
 			lNextRow = dToNextTurn
+			nextRowStartIx = i + 1
 			dToNextTurn = 0
 			turnFound = true
 		end
@@ -861,7 +863,7 @@ end
 
 --- Get the index of the first waypoint from ix which is at least distance meters away
 ---@param backward boolean search backward if true
----@return numer, number index and exact distance
+---@return number, number index and exact distance
 function Course:getNextWaypointIxWithinDistance(ix, distance, backward)
 	local d = 0
 	local from, to, step = ix, #self.waypoints - 1, 1
@@ -1136,6 +1138,9 @@ function Course:isCloseToLastTurn(distance)
 	return false
 end
 
+--- Get the length of the up/down row where waypoint ix is located
+--- @param ix number waypoint index in the row
+--- @return number, number length of the current row and the index of the first waypoint of the row
 function Course:getRowLength(ix)
 	for i = ix, 1, -1 do
 		if self:isTurnEndAtIx(i) then
@@ -1149,6 +1154,10 @@ function Course:getNextRowLength(ix)
 	return self.waypoints[ix].lNextRow
 end
 
+function Course:getNextRowStartIx(ix)
+	return self.waypoints[ix].nextRowStartIx
+end
+
 function Course:draw()
 	for i = 1, math.max(#self.waypoints - 1, 1) do
 		local x1, y1, z1 = self:getWaypointPosition(i)
@@ -1470,8 +1479,9 @@ function Course:setPipeInFruitMap(pipeOffsetX, workWidth)
 			pipeInFruitMapHelperWpNode:setToWaypoint(self, row.startIx)
 			-- pipe's local position in the row start wp's system
 			local lx, _, lz = worldToLocal(pipeInFruitMapHelperWpNode.node, x, y, z)
-			-- add 10 cm buffer to make sure turn end/start waypoints have correct data
-			if math.abs(lx) <= halfWorkWidth and lz >= 0.1 and lz <= row.length + 0.1 then
+			-- add 20 m buffer to account for non-perpendicular headlands where technically the pipe
+			-- would not be in the fruit around the end of the row
+			if math.abs(lx) <= halfWorkWidth and lz >= -20 and lz <= row.length + 20 then
 				-- pipe is in the fruit at ix
 				return true
 			end
@@ -1481,7 +1491,7 @@ function Course:setPipeInFruitMap(pipeOffsetX, workWidth)
 
 	-- The idea here is that we walk backwards on the course, remembering each row and adding them
 	-- to the list of unworked rows. This way, at any waypoint we have a list of rows the vehicle
-	-- wouldn't have finished if it was driving the course the right wa		y (start to end).
+	-- wouldn't have finished if it was driving the course the right way (start to end).
 	-- Now check if the pipe would be in any of these unworked rows
 	local rowsNotDone = {}
 	local totalNonHeadlandWps = 0

course-generator/HybridAStar.lua

@@ -497,9 +497,6 @@ function HybridAStar:findPath(start, goal, turnRadius, allowReverse, constraints
 					analyticPath[1]:setTrailerHeading(pred:getTrailerHeading())
 					State3D.calculateTrailerHeadings(analyticPath, hitchLength)
 					if self:isPathValid(analyticPath) then
-						--TODO: figure out a possible debug channel, if needed
-
-						--State3D.printPath(analyticPath, 'ANALYTIC')
 						self:debug('Found collision free analytic path (%s) at iteration %d', pathType, self.iterations)
 						-- remove first node of returned analytic path as it is the same as pred
 						table.remove(analyticPath, 1)
@@ -630,8 +627,8 @@ end
 --- 3 dimensional as we do not take the heading into account and we use a different set of motion primitives
 AStar = CpObject(HybridAStar)
 
-function AStar:init(yieldAfter)
-	HybridAStar.init(self, yieldAfter)
+function AStar:init(yieldAfter, maxIterations)
+	HybridAStar.init(self, yieldAfter, maxIterations)
 	-- this needs to be small enough that no vehicle fit between the grid points (and remain undetected)
 	self.deltaPos = 3
 	self.deltaPosGoal = self.deltaPos
@@ -867,4 +864,4 @@ end
 
 function HybridAStarWithPathInTheMiddle:getAStar()
 	return DummyAStar(self.path)
-end
+end

course-generator/PathfinderUtil.lua

@@ -549,6 +549,16 @@ function PathfinderConstraints:resetConstraints()
     self.context.parameters.maxFruitPercent = self.normalMaxFruitPercent
 end
 
+---@param start State3D
+---@param vehicleData PathfinderUtil.VehicleData
+local function initializeTrailerHeading(start, vehicleData)
+    -- initialize the trailer's heading for the starting point
+    if vehicleData.trailer then
+        local _, _, yRot = PathfinderUtil.getNodePositionAndDirection(vehicleData.trailer.rootNode, 0, 0)
+        start:setTrailerHeading(courseGenerator.fromCpAngle(yRot))
+    end
+end
+
 ---@param start State3D
 ---@param goal State3D
 local function startPathfindingFromVehicleToGoal(vehicle, start, goal,
@@ -560,11 +570,7 @@ local function startPathfindingFromVehicleToGoal(vehicle, start, goal,
             offFieldPenalty or PathfinderUtil.defaultOffFieldPenalty)
     local vehicleData = PathfinderUtil.VehicleData(vehicle, true, 0.5)
 
-    -- initialize the trailer's heading for the starting point
-    if vehicleData.trailer then
-        local _, _, yRot = PathfinderUtil.getNodePositionAndDirection(vehicleData.trailer.rootNode, 0, 0)
-        start:setTrailerHeading(courseGenerator.fromCpAngle(yRot))
-    end
+    initializeTrailerHeading(start, vehicleData)
 
     local context = PathfinderUtil.Context(
             vehicleData,
@@ -746,6 +752,44 @@ function PathfinderUtil.startPathfindingFromVehicleToNode(vehicle, goalNode,
             vehiclesToIgnore, maxFruitPercent, offFieldPenalty, mustBeAccurate)
 end
 
+------------------------------------------------------------------------------------------------------------------------
+--- Interface function to start a simple A* pathfinder in the game. The goal is a node
+------------------------------------------------------------------------------------------------------------------------
+---@param vehicle table, will be used as the start location/heading, turn radius and size
+---@param goalNode table The goal node
+---@param xOffset number side offset of the goal from the goal node (> 0 is left)
+---@param zOffset number length offset of the goal from the goal node (> 0 is front)
+---@param fieldNum number if other than 0 or nil the pathfinding is restricted to the given field and its vicinity
+---@param vehiclesToIgnore table[] list of vehicles to ignore for the collision detection (optional)
+---@param maxFruitPercent number maximum percentage of fruit present before a node is marked as invalid (optional)
+function PathfinderUtil.startAStarPathfindingFromVehicleToNode(vehicle, goalNode,
+                                                          xOffset, zOffset,
+                                                          fieldNum, vehiclesToIgnore, maxFruitPercent)
+    local x, z, yRot = PathfinderUtil.getNodePositionAndDirection(AIDriverUtil.getDirectionNode(vehicle))
+    local start = State3D(x, -z, courseGenerator.fromCpAngle(yRot))
+    x, z, yRot = PathfinderUtil.getNodePositionAndDirection(goalNode, xOffset, zOffset)
+    local goal = State3D(x, -z, courseGenerator.fromCpAngle(yRot))
+
+    local otherVehiclesCollisionData = PathfinderUtil.setUpVehicleCollisionData(vehicle, vehiclesToIgnore)
+    local parameters = PathfinderUtil.Parameters(maxFruitPercent or
+            (vehicle.cp.settings.useRealisticDriving:is(true) and 50 or math.huge), PathfinderUtil.defaultOffFieldPenalty)
+    local vehicleData = PathfinderUtil.VehicleData(vehicle, true, 0.5)
+
+    initializeTrailerHeading(start, vehicleData)
+
+    local context = PathfinderUtil.Context(
+            vehicleData,
+            fieldNum,
+            parameters,
+            vehiclesToIgnore,
+            otherVehiclesCollisionData)
+
+    local pathfinder = AStar(100, 10000)
+    local done, path, goalNodeInvalid = pathfinder:start(start, goal, context.vehicleData.turnRadius, false,
+            PathfinderConstraints(context), context.vehicleData.trailerHitchLength)
+    return pathfinder, done, path, goalNodeInvalid
+end
+
 ------------------------------------------------------------------------------------------------------------------------
 -- Debug stuff
 ---------------------------------------------------------------------------------------------------------------------------

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="47">
-	<version>6.03.00019</version>
+	<version>6.03.00020</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title><!-- en=English de=German fr=French es=Spanish ru=Russian pl=Polish it=Italian br=Brazilian-Portuguese cs=Chinese(Simplified) ct=Chinese(Traditional) cz=Czech nl=Netherlands hu=Hungary jp=Japanese kr=Korean pt=Portuguese ro=Romanian tr=Turkish -->
 		<en>CoursePlay SIX</en>

settings.lua

@@ -2625,6 +2625,18 @@ function CombineWantsCourseplayerSetting:init(vehicle)
 	self:set(false)
 end
 
+---@class KeepUnloadingUntilEndOfRow : BooleanSetting
+KeepUnloadingUntilEndOfRow = CpObject(BooleanSetting)
+function KeepUnloadingUntilEndOfRow:init(vehicle)
+	BooleanSetting.init(self, 'keepUnloadingUntilEndOfRow', 'COURSEPLAY_KEEP_UNLOADING_UNTIL_END_OF_ROW',
+			'COURSEPLAY_KEEP_UNLOADING_UNTIL_END_OF_ROW_TOOLTIP', vehicle)
+	self:set(false)
+end
+
+function KeepUnloadingUntilEndOfRow:isDisabled()
+	return self.vehicle.cp.driver and not self.vehicle.cp.driver:is_a(CombineUnloadAIDriver)
+end
+
 ---@class SiloSelectedFillTypeSetting : LinkedListSetting
 SiloSelectedFillTypeSetting = CpObject(LinkedListSetting)
 SiloSelectedFillTypeSetting.NetworkTypes = {}
@@ -3327,6 +3339,7 @@ function AssignedCombinesSetting:init(vehicle)
 	Setting.init(self, 'assignedCombines','-', '-', vehicle) 
 	self.MAX_COMBINES_FOR_PAGE = 5
 	self.offsetHead = 0
+	-- table has key (the combine's vehicle) with all combines assigned to this unloader in the HUD, value is true
 	self.table = {}
 	self.lastPossibleCombines = {}
 end
@@ -3451,6 +3464,16 @@ function AssignedCombinesSetting:getData()
 	return self.table
 end
 
+function AssignedCombinesSetting:__tostring()
+	local ret = 'assigned combines: '
+	local list = ''
+	for combine, _ in pairs(self.table) do
+		list = list .. nameNum(combine) .. ', '
+	end
+	if list == '' then list = 'none' end
+	return ret .. list
+end
+
 function AssignedCombinesSetting:selectClosest()
 	local dMin = math.huge
 	local closestCombine

translations/translation_br.xml

@@ -500,8 +500,10 @@
 		<text name="COURSEPLAY_AUTOREPAIR"									text="Automatic repair" />
 		<text name="COURSEPLAY_AUTOREPAIR_TOOLTIP"							text="Repairs automatically on the Field." />
 		<text name="COURSEPLAY_AUTOREPAIR_OFF"								text="Don't repair" />
-		<text name="COURSEPALY_AUTOREPAIR_ALWAYS"							text="Keep it healthy" />
+		<text name="COURSEPLAY_AUTOREPAIR_ALWAYS"							text="Keep it healthy" />
 
+		<text name="COURSEPLAY_KEEP_UNLOADING_UNTIL_END_OF_ROW"				text="Keep unloading until end of row" />
+		<text name="COURSEPLAY_KEEP_UNLOADING_UNTIL_END_OF_ROW_TOOLTIP"		text="Don't stop unloading the combine when it is empty, follow it until the end of the row" />
 		<!-- Replace marker, do not remove! -->
 </texts>
 </l10n>