6.03.00050 Bale improvements and initialization fixes

- Vehicle initialization after load fixed for #6964 (also made
it more resilient)

Bale collector/wrapper improvements

- Enabled bale wrapper for Mode 7
- Look for bales once more before leaving for the unload course.

Bale unload fix for #6953

- When moving forward after unloading, use the position where we
actually unloaded the bales instead of the unload waypoint.

BaleCollectorAIDriver.lua

@@ -23,6 +23,8 @@ without a field course.
 
 For unloading, it has the same behavior as the BaleLoaderAIDriver.
 
+It also works with a bale wrapper, find and wrap all wrappable bales.
+
 --]]
 
 ---@class BaleCollectorAIDriver : BaleLoaderAIDriver
@@ -33,7 +35,7 @@ BaleCollectorAIDriver.myStates = {
 	WAITING_FOR_PATHFINDER = {},
 	DRIVING_TO_NEXT_BALE = {},
 	APPROACHING_BALE = {},
-	PICKING_UP_BALE = {}
+	WORKING_ON_BALE = {}
 }
 
 function BaleCollectorAIDriver:init(vehicle)
@@ -69,6 +71,7 @@ function BaleCollectorAIDriver:setUpAndStart(startingPoint)
 			self:stop("NO_FIELD_SELECTED")
 			return
 		end
+		BaleWrapperAIDriver.initializeBaleWrapper(self)
 		self.bales = self:findBales(myField)
 		self:changeToFieldwork()
 		self:collectNextBale()
@@ -97,8 +100,15 @@ function BaleCollectorAIDriver:collectNextBale()
 	if #self.bales > 0 then
 		self:findPathToNextBale()
 	else
-		self:info('No bales found.')
-		if self:getFillLevel() > 0.1 then
+		self:info('No bales found, scan the field once more before leaving for the unload course.')
+		self.bales = self:findBales(self.vehicle.cp.settings.baleCollectionField:get())
+		if #self.bales > 0 then
+			self:info('Found more bales, collecting them')
+			self:findPathToNextBale()
+			return
+		end
+		self:info('There really is no more bales on the field')
+		if self.baleLoader and self:getFillLevel() > 0.1 then
 			self:changeToUnloadOrRefill()
 			self:startCourseWithPathfinding(self.unloadRefillCourse, 1)
 		else
@@ -113,7 +123,7 @@ function BaleCollectorAIDriver:findBales(fieldId)
 	self:debug('Finding bales on field %d...', fieldId or 0)
 	local balesFound = {}
 	for _, object in pairs(g_currentMission.nodeToObject) do
-		if BaleToCollect.isValidBale(object) then
+		if BaleToCollect.isValidBale(object, self.baleWrapper) then
 			local bale = BaleToCollect(object)
 			-- if the bale has a mountObject it is already on the loader so ignore it
 			if (not fieldId or fieldId == 0 or bale:getFieldId() == fieldId) and
@@ -224,8 +234,8 @@ function BaleCollectorAIDriver:onLastWaypoint()
 	if self.state == self.states.ON_FIELDWORK_COURSE and self.fieldworkState == self.states.WORKING then
 		if self.baleCollectingState == self.states.DRIVING_TO_NEXT_BALE then
 			self:debug('last waypoint while driving to next bale reached')
-			self:approachBale()
-		elseif self.baleCollectingState == self.states.PICKING_UP_BALE then
+			self:startApproachingBale()
+		elseif self.baleCollectingState == self.states.WORKING_ON_BALE then
 			self:debug('last waypoint on bale pickup reached, start collecting bales again')
 			self:collectNextBale()
 		elseif self.baleCollectingState == self.states.APPROACHING_BALE then
@@ -250,7 +260,7 @@ function BaleCollectorAIDriver:onEndCourse()
 	end
 end
 
-function BaleCollectorAIDriver:approachBale()
+function BaleCollectorAIDriver:startApproachingBale()
 	self:debug('Approaching bale...')
 	self:startCourse(self:getStraightForwardCourse(20), 1)
 	self:setBaleCollectingState(self.states.APPROACHING_BALE)
@@ -269,18 +279,44 @@ function BaleCollectorAIDriver:work()
 		self:setSpeed(self.vehicle:getSpeedLimit())
 	elseif self.baleCollectingState == self.states.APPROACHING_BALE then
 		self:setSpeed(self:getWorkSpeed() / 2)
+		self:approachBale()
+	elseif self.baleCollectingState == self.states.WORKING_ON_BALE then
+		self:workOnBale()
+		self:setSpeed(0)
+	end
+	self:checkFillLevels()
+end
+
+function BaleCollectorAIDriver:approachBale()
+	if self.baleLoader then
 		if self.baleLoader.spec_baleLoader.grabberMoveState then
 			self:debug('Start picking up bale')
-			self:setBaleCollectingState(self.states.PICKING_UP_BALE)
+			self:setBaleCollectingState(self.states.WORKING_ON_BALE)
 		end
-	elseif self.baleCollectingState == self.states.PICKING_UP_BALE then
-		self:setSpeed(0)
+	end
+	if self.baleWrapper then
+		BaleWrapperAIDriver.handleBaleWrapper(self)
+		if self.baleWrapper.spec_baleWrapper.baleWrapperState ~= BaleWrapper.STATE_NONE then
+			self:debug('Start wrapping bale')
+			self:setBaleCollectingState(self.states.WORKING_ON_BALE)
+		end
+	end
+end
+
+function BaleCollectorAIDriver:workOnBale()
+	if self.baleLoader then
 		if not self.baleLoader.spec_baleLoader.grabberMoveState then
 			self:debug('Bale picked up, moving on to the next')
 			self:collectNextBale()
 		end
 	end
-	self:checkFillLevels()
+	if self.baleWrapper then
+		BaleWrapperAIDriver.handleBaleWrapper(self)
+		if self.baleWrapper.spec_baleWrapper.baleWrapperState == BaleWrapper.STATE_NONE then
+			self:debug('Bale wrapped, moving on to the next')
+			self:collectNextBale()
+		end
+	end
 end
 
 function BaleCollectorAIDriver:calculateTightTurnOffset()

BaleLoaderAIDriver.lua

@@ -60,7 +60,6 @@ function BaleLoaderAIDriver:init(vehicle)
 	courseplay.debugVehicle(courseplay.DBG_AI_DRIVER,vehicle,'BaleLoaderAIDriver:init()')
 	UnloadableFieldworkAIDriver.init(self, vehicle)
 	self:initStates(BaleLoaderAIDriver.myStates)
-	self:initializeBaleLoader()
 	self.unloadDoneX, self.unloadDoneZ = 0, 0
 end
 
@@ -71,21 +70,25 @@ end
 
 function BaleLoaderAIDriver:initializeBaleLoader()
 	self.baleLoader = AIDriverUtil.getImplementWithSpecialization(self.vehicle, BaleLoader)
-	self:debug('baleloader %s', tostring(self.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(object)
-		return UnloadableFieldworkAIDriver.getAIMarkersFromGrabberNode(object, object.spec_baleLoader)
-	end
+	if self.baleLoader then
+		self:debug('baleloader %s', tostring(self.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(object)
+			return UnloadableFieldworkAIDriver.getAIMarkersFromGrabberNode(object, object.spec_baleLoader)
+		end
 
-	self.manualUnloadNode = WaypointNode(self.vehicle:getName() .. 'unloadNode')
-	if self.baleLoader.cp.realUnloadOrFillNode then
-		-- use that realUnloadOrFillNode for now as it includes the balerUnloadDistance config value
-		-- TODO: can we just use the back marker node here as well?
-		self.baleFinderProximitySensorPack = BackwardLookingProximitySensorPack(
-			self.vehicle, self.ppc, self.baleLoader.cp.realUnloadOrFillNode, 5, 1)
+		self.manualUnloadNode = WaypointNode(self.vehicle:getName() .. 'unloadNode')
+		if self.baleLoader.cp.realUnloadOrFillNode then
+			-- use that realUnloadOrFillNode for now as it includes the balerUnloadDistance config value
+			-- TODO: can we just use the back marker node here as well?
+			self.baleFinderProximitySensorPack = BackwardLookingProximitySensorPack(
+				self.vehicle, self.ppc, self.baleLoader.cp.realUnloadOrFillNode, 5, 1)
+		end
+		self:debug('Initialized, bale loader: %s', self.baleLoader:getName())
+	else
+		self:debug('Has now bale loader specialization')
 	end
-	self:debug('Initialized, bale loader: %s', self.baleLoader:getName())
 end
 
 ---@return boolean true if unload took over the driving

BaleToCollect.lua

@@ -39,9 +39,21 @@ function BaleToCollect:init(baleObject)
 end
 
 --- Call this before attempting to construct a BaleToCollect to check the validity of the object
-function BaleToCollect.isValidBale(object)
+---@param baleWrapper table bale wrapper, if exists
+function BaleToCollect.isValidBale(object, baleWrapper)
 	-- nodeId is sometimes 0, causing issues for the BaleToCollect constructor
-	return object.isa and object:isa(Bale) and object.nodeId and entityExists(object.nodeId)
+	if object.isa and object:isa(Bale) and object.nodeId and entityExists(object.nodeId) then
+		if baleWrapper then
+			-- if there is a bale wrapper, the bale must be wrappable and the wrapper does not want to skip this fill type
+			-- (and yes, this is another typo in Giants code
+			local wrappedBaleType = baleWrapper:getWrapperBaleType(object)
+			courseplay.debugFormat(courseplay.DBG_MODE_7, '  bale %d wrapping state: %d, wrapped bale type: %s',
+				object.id, tostring(object.wrappingState), tostring(wrappedBaleType))
+			return wrappedBaleType and object.wrappingState < 0.99
+		else
+			return true
+		end
+	end
 end
 
 function BaleToCollect:getFieldId()

BaleWrapperAIDriver.lua

@@ -35,7 +35,7 @@ end
 function BaleWrapperAIDriver:initializeBaleWrapper()
 	self.baleWrapper = AIDriverUtil.getAIImplementWithSpecialization(self.vehicle, BaleWrapper)
 
-	if not self.baler then
+	if not self.baler and self.baleWrapper 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(object)
@@ -47,31 +47,37 @@ end
 function BaleWrapperAIDriver:driveFieldwork(dt)
 	-- Don't drop the bale in the turn or on temporary alignment or connecting tracks
 	if self:isHandlingAllowed() then
-		-- stop while wrapping only if we don't have a baler. If we do we should continue driving and working
-		-- on the next bale, the baler code will take care about stopping if we need to
-		if self.baleWrapper.spec_baleWrapper.baleWrapperState ~= BaleWrapper.STATE_NONE and not self.baler then
-			self:setSpeed(0)
-		end
-		-- Yes, Giants has a typo in the state
-		if self.baleWrapper.spec_baleWrapper.baleWrapperState == BaleWrapper.STATE_WRAPPER_FINSIHED then
-			-- inserts unload threshold after lowering the implement, useful after e.g. transition from connecting track to fieldwork
-			if self.fieldworkState == self.states.WAITING_FOR_LOWER then
-				local unloadThreshold = 2500 --delay in msecs, 2.5 secs seems to work well
-				loweringDropTime = self.vehicle.timer + unloadThreshold
-			elseif loweringDropTime == nil then
-				loweringDropTime = 0
-			end
-			-- inserts unload threshold after turn so bales don't drop on headlands
-			if self.turnStartedAt and self.realTurnDurationMs then
-				local unloadThreshold = 4000 --delay in msecs, 4 secs seems to work well
-				turnDropTime = self.turnStartedAt + self.realTurnDurationMs + unloadThreshold
-			else
-				turnDropTime = 0 --avoids problems in case of condition variables not existing / empty e.g. before the first turn
-			end		
-			if self.vehicle.timer  > math.max(loweringDropTime,turnDropTime) then --chooses the bigger delay
-				self.baleWrapper:doStateChange(BaleWrapper.CHANGE_WRAPPER_START_DROP_BALE)
-			end
-		end
+		self:handleBaleWrapper()
 	end
 	return BalerAIDriver.driveFieldwork(self, dt)
 end
+
+
+function BaleWrapperAIDriver:handleBaleWrapper()
+	-- stop while wrapping only if we don't have a baler. If we do we should continue driving and working
+	-- on the next bale, the baler code will take care about stopping if we need to
+	if self.baleWrapper.spec_baleWrapper.baleWrapperState ~= BaleWrapper.STATE_NONE and not self.baler then
+		self:setSpeed(0)
+	end
+	-- Yes, Giants has a typo in the state
+	if self.baleWrapper.spec_baleWrapper.baleWrapperState == BaleWrapper.STATE_WRAPPER_FINSIHED then
+		local loweringDropTime, turnDropTime
+		-- inserts unload threshold after lowering the implement, useful after e.g. transition from connecting track to fieldwork
+		if self.fieldworkState == self.states.WAITING_FOR_LOWER then
+			local unloadThreshold = 2500 --delay in msecs, 2.5 secs seems to work well
+			loweringDropTime = self.vehicle.timer + unloadThreshold
+		elseif loweringDropTime == nil then
+			loweringDropTime = 0
+		end
+		-- inserts unload threshold after turn so bales don't drop on headlands
+		if self.turnStartedAt and self.realTurnDurationMs then
+			local unloadThreshold = 4000 --delay in msecs, 4 secs seems to work well
+			turnDropTime = self.turnStartedAt + self.realTurnDurationMs + unloadThreshold
+		else
+			turnDropTime = 0 --avoids problems in case of condition variables not existing / empty e.g. before the first turn
+		end
+		if self.vehicle.timer > math.max(loweringDropTime,turnDropTime) then --chooses the bigger delay
+			self.baleWrapper:doStateChange(BaleWrapper.CHANGE_WRAPPER_START_DROP_BALE)
+		end
+	end
+end

Waypoint.lua

@@ -1050,17 +1050,20 @@ end
 ---@param dx number	direction to extend
 ---@param dz number direction to extend
 function Course:extend(length, dx, dz)
+	self:print()
 	local lastWp = self.waypoints[#self.waypoints]
 	local len = self.waypoints[#self.waypoints - 1].dToNext
-	dx, dz = dx or lastWp.dx / len, dz or lastWp.dz / len
+	dx, dz = dx or lastWp.dx, dz or lastWp.dz
+	print(dx, dz)
 	local wpDistance = 2
-	for _ = wpDistance, math.max(length, wpDistance), wpDistance do
+	for i = wpDistance, math.max(length, wpDistance), wpDistance do
 		lastWp = self.waypoints[#self.waypoints]
 		local x = lastWp.x + dx * wpDistance
 		local z = lastWp.z + dz * wpDistance
 		self:appendWaypoint({x = x, z = z})
 	end
 	self:enrichWaypointData()
+	self:print()
 end
 
 --- Create a new (straight) temporary course based on a node

base.lua

@@ -370,12 +370,6 @@ function courseplay:onLoad(savegame)
 	};
 	};
 
-	-- WOOD CUTTING: increase max cut length
-	if CpManager.isDeveloper then
-	self.cutLengthMax = 15;
-	self.cutLengthStep = 1;
-	end;
-
 	self.cp.mouseCursorActive = false;
 
 	-- 2D course

config/ValidModeSetup.xml

@@ -176,6 +176,9 @@
 			<Setup>
 				<Specialization name="spec_baleLoader"/>
 			</Setup>
+			<Setup>
+				<Specialization name="spec_baleWrapper"/>
+			</Setup>
 		</AllowedSetups>
 		<DisallowedSetups>
 			<Setup>

hud.lua

@@ -231,8 +231,8 @@ function courseplay.hud:setup()
 		[courseplay.MODE_SEED_FERTILIZE]		 = { 220, 72, 252,40 };
 		[courseplay.MODE_TRANSPORT]				 = {   4,108,  36,76 };
 		[courseplay.MODE_FIELDWORK]				 = {  40,108,  72,76 };
-		[courseplay.MODE_BALE_COLLECTOR] = {  76,108, 108,76 };
-		[courseplay.MODE_FIELD_SUPPLY] = { 112,108, 144,76 };
+		[courseplay.MODE_BALE_COLLECTOR] 		 = {  76,108, 108,76 };
+		[courseplay.MODE_FIELD_SUPPLY]  		 = { 112,108, 144,76 };
 		[courseplay.MODE_SHOVEL_FILL_AND_EMPTY]	 = { 148,108, 180,76 };
 		[courseplay.MODE_BUNKERSILO_COMPACTER]	 = { 219,431, 251,399 };
 	};
@@ -323,8 +323,8 @@ function courseplay.hud:setup()
 		[courseplay.MODE_SEED_FERTILIZE]		 = {  40,144,  72,112 };
 		[courseplay.MODE_TRANSPORT]				 = {  76,144, 108,112 };
 		[courseplay.MODE_FIELDWORK]				 = { 112,144, 144,112 };
-		[courseplay.MODE_BALE_COLLECTOR] = { 148,144, 180,112 };
-		[courseplay.MODE_FIELD_SUPPLY] = { 184,144, 216,112 };
+		[courseplay.MODE_BALE_COLLECTOR] 		 = { 148,144, 180,112 };
+		[courseplay.MODE_FIELD_SUPPLY] 			 = { 184,144, 216,112 };
 		[courseplay.MODE_SHOVEL_FILL_AND_EMPTY]	 = { 220,144, 252,112 };
 		[courseplay.MODE_BUNKERSILO_COMPACTER]	 = { 219,394, 251,362 };
 	};

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="47">
-	<version>6.03.00049</version>
+	<version>6.03.00050</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>