Merge remote-tracking branch 'upstream/main' into ChopperSupport

Author: pops64

config/InfoTexts.xml

@@ -20,6 +20,8 @@
 	<InfoText name="ERROR_GROUND_UNLOAD_NOT_SUPPORTED"		text="errorGroundUnloadNotSupported" class="AIMessageErrorGroundUnloadNotSupported"/>
 	<InfoText name="ERROR_CUTTER_NOT_SUPPORTED"				text="errorCutterNotSupported" class="AIMessageErrorCutterNotSupported"/>
 	<InfoText name="ERROR_AUTOMATIC_CUTTER_ATTACH_DISABLED" text="errorAutomaticCutterAttachNotActive" class="AIMessageErrorAutomaticCutterAttachNotActive" isOnlyShownOnPlayerStart="true"/>
+	<InfoText name="ERROR_WRONG_SEASON"						text="errorWrongSeason" class="AIMessageErrorWrongSeason"/>
+	<InfoText name="ERROR_WRONG_MISSION_FRUIT_TYPE" 		text="errorWrongMissionFruitType" class="AIMessageErrorWrongMissionFruitType"/>
 
 	<InfoText name="IS_STUCK"								text="isStuck"/>
 	<InfoText name="BLOCKED_BY_OBJECT"  					text="blockedByObject" class="AIMessageErrorBlockedByObject"/>

config/MasterTranslations.xml

@@ -385,6 +385,10 @@
 			<Text language="de"><![CDATA[Helfer %s hat die Arbeit gestoppt - automatisches Scheidwerk ankuppeln deaktiviert!]]></Text>
 			<Text language="en"><![CDATA[AI worker %s has stopped work unexpectedly - automatic cutter attach disabled!]]></Text>
 		</Translation>
+		<Translation name="CP_ai_messageErrorWrongMissionFruitType">
+			<Text language="de"><![CDATA[Helfer %s hat die Arbeit gestoppt - falsche Frucht für die Mission ausgewählt!]]></Text>
+			<Text language="en"><![CDATA[AI worker %s has stopped work unexpectedly - wrong fill type for mission selected!]]></Text>
+		</Translation>
 	</Category>
 	<Category name="AI fieldwork task descriptions">	
 		<Translation name="CP_ai_taskDescriptionAttachHeader">
@@ -443,10 +447,6 @@
 		</Translation>
 	</Category>
 	<Category name="AI silo loader task descriptions">	
-		<Translation name="CP_ai_taskDescriptionUnloadingToTrailer">
-			<Text language="de"><![CDATA[Entlädt zu einem Anhänger]]></Text>
-			<Text language="en"><![CDATA[Unloads to a trailer]]></Text>
-		</Translation>
 		<Translation name="CP_ai_taskDescriptionWaitsForTrailer">
 			<Text language="de"><![CDATA[Wartet auf einen Anhänger]]></Text>
 			<Text language="en"><![CDATA[Waits for a trailer]]></Text>
@@ -691,6 +691,14 @@
 			<Text language="de"><![CDATA[Arbeitsbreite. Wert: 0 - 50]]></Text>
 			<Text language="en"><![CDATA[Work width. Value: 0 - 50]]></Text>
 		</Translation>
+		<Translation name="CP_vehicle_setting_levelerHeightOffset_title">
+			<Text language="de"><![CDATA[Versatz Schildhöhe]]></Text>
+			<Text language="en"><![CDATA[Shield height offset]]></Text>
+		</Translation>
+		<Translation name="CP_vehicle_setting_levelerHeightOffset_tooltip">
+			<Text language="de"><![CDATA[Höhenversatz vom Schild zum Boden. Wert: 0 - 1]]></Text>
+			<Text language="en"><![CDATA[Offset of the shield form the ground. Value: 0 - 1]]></Text>
+		</Translation>
 		<Translation name="CP_vehicle_setting_loadingShovelHeightOffset_title">
 			<Text language="de"><![CDATA[Versatz Schaufelhöhe.]]></Text>
 			<Text language="en"><![CDATA[Shovel hight offset.]]></Text>
@@ -1614,6 +1622,14 @@ The course is saved automatically on closing of the editor and overrides the sel
 			<Text language="de"><![CDATA[Schneidwerk ankuppeln deaktiviert]]></Text>
 			<Text language="en"><![CDATA[Cutter attaching deactivated]]></Text>
 		</Translation>
+		<Translation name="CP_infoTexts_errorWrongSeason">
+			<Text language="de"><![CDATA[Falsche Jahreszeit]]></Text>
+			<Text language="en"><![CDATA[Wrong season for fruit]]></Text>
+		</Translation>
+		<Translation name="CP_infoTexts_errorWrongMissionFruitType">
+			<Text language="de"><![CDATA[Falsche Frucht für Mission ausgewählt]]></Text>
+			<Text language="en"><![CDATA[Wrong fruit for mission selected]]></Text>
+		</Translation>
 	</Category>
 	<Category name="Custom field manager">	
 		<Translation name="CP_customFieldManager_confirm_save">

config/VehicleConfigurations.xml

@@ -361,10 +361,16 @@ You can define the following custom settings:
 
 	<Vehicle name="torion1914.xml"
              turnRadius = "12"
+    />
+    <vehicle name="torion1511.xml"
+             turnRadius = "9"
     />
 	<Vehicle name="wheelLoaderShovel.xml"
              shovelMovingToolIx = "1"
     />
+	<Vehicle name="overtippingBucket.xml"
+             shovelMovingToolIx = "1"
+    />
 
     <!--[DLC]-->
 
@@ -549,4 +555,30 @@ You can define the following custom settings:
 			 disablePipeMovingToolCorrection = "true"
 			 unloadOffsetX = "-3.56"
     />
+
+	<!--Mod: FS22_lizardHTB6000-->
+	<Vehicle name="HTB6000.xml"
+			shovelMovingToolIx = "1"
+	/>
+
+	<!--Mod: FS22_Liebherr_Xpower-->
+	<Vehicle name="highTipShovel.xml"
+			shovelMovingToolIx = "1"
+	/>
+
+	<!--Mod: FS22_bresselUndLadeHighTipShovelPack-->
+	<Vehicle name="bresselUndLadeL67.xml"
+			shovelMovingToolIx = "1"
+	/>
+
+	<!--Mod: FS22_bresselUndLadeHighTipShovelPack-->
+	<Vehicle name="bresselUndLadeL71.xml"
+			shovelMovingToolIx = "1"
+	/>
+
+	<!--Mod: FS22_bresselUndLadeHighTipShovelPack-->
+	<Vehicle name="bresselUndLadeL71.xml"
+			shovelMovingToolIx = "1"
+	/>
+
 </VehicleConfigurations>

config/VehicleSettingsSetup.xml

@@ -79,6 +79,8 @@
 		<Setting classType="AIParameterSettingList" name="loadingShovelHeightOffset" min="-1" max="1" incremental="0.1" default="0" unit="2" 
 				isVisible="isLoadingShovelOffsetSettingVisible" isDisabled="isLoadingShovelOffsetSettingDisabled" 
 				onChangeCallback="onCpLoadingShovelOffsetSettingChanged" vehicleConfiguration="loadingShovelOffset"/>
+		<Setting classType="AIParameterSettingList" name="levelerHeightOffset" min="0" max="0.5" incremental="0.05" default="0" unit="2" precision="3" 
+				isVisible="isLevelerHeightOffsetSettingVisible" isDisabled="isLevelerHeightOffsetSettingDisabled" />
 	</SettingSubTitle>
 
 	<SettingSubTitle title="combine" isVisible="areCombineSettingsVisible">

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="76">
-    <version>7.3.1.2</version>
+    <version>7.3.1.3</version>
 	<author>Pops64</author>
 	<title>
 		<en>CoursePlay - Chopper Support</en>
@@ -276,6 +276,7 @@ Changelog 7.1.0.0:
 
 		<sourceFile filename="scripts/ai/AIUtil.lua"/>
 		<sourceFile filename="scripts/ai/ImplementUtil.lua"/>
+		<sourceFile filename="scripts/ai/PathfinderController.lua"/>
 		<sourceFile filename="scripts/ai/ProximityController.lua"/>
 		<sourceFile filename="scripts/ai/FieldWorkerProximityController.lua"/>
 		<sourceFile filename="scripts/ai/CollisionAvoidanceController.lua"/>

scripts/CpObject.lua

@@ -59,10 +59,47 @@ function CpObject(base, init)
 		end
 		return false
 	end
+	c.__tostring = function (self)
+		-- Default tostring function for printing all attributes and assigned functions.
+		local str = '[ '
+		for attribute, value in pairs(self) do
+			str = str .. string.format('%s: %s ', attribute, value)
+		end
+		str = str .. ']'
+		return str
+	end
+
 	setmetatable(c, mt)
 	return c
 end
 
+---@class CpObjectUtil
+CpObjectUtil = {
+	BUILDER_API_NIL = "nil"
+}
+
+--- Registers a builder api for a class.
+--- The attributes are set as private variables with "_" before the variable name 
+--- and the builder functions are named like the attribute.
+--- Nil values have to be replaced with CpObjectUtil.BUILDER_API_NIL !!
+---@param class table
+---@param attributesToDefault table<attributeName, any>
+function CpObjectUtil.registerBuilderAPI(class, attributesToDefault)
+	for attributeName, default in pairs(attributesToDefault) do 
+		if default == CpObjectUtil.BUILDER_API_NIL then 
+			default = nil
+		end
+		--- Applies the default value to the private variable
+		class["_" .. attributeName] = default
+		--- Creates the builder functions/ setters with the public variable name
+		class[attributeName] = function(self, value)
+			self["_" .. attributeName] = value	
+			return self		
+		end
+	end
+end
+
+
 --- Object that holds a value temporarily. You can tell when to set the value and how long it should keep that
 --- value, in milliseconds. Great for timers.
 ---@class CpTemporaryObject

scripts/CpSettingsUtil.lua

@@ -35,9 +35,10 @@ CpSettingsUtil = {}
 				- isExpertModeOnly(bool): is the setting visible in the expert version?, default = false
 
 				- generateValuesFunction(string): dynamically adds value, when the setting is created.
-				- min (int): min value
-				- max (int): max value
+				- min (float): min value
+				- max (float): max value
 				- incremental (float): increment (optional), default "1"
+				- precision (float): optional rounding precision
 				- text(string): string to format the setting value with in the gui element.
 				- unit (int) : 1 == km/h, 2 == meters, 3 == ha (optional), 4 = percent (%), 5 = degrees (°)
 
@@ -89,9 +90,10 @@ function CpSettingsUtil.init()
 	schema:register(XMLValueType.BOOL, key.."#isExpertModeOnly", "Is enabled in simple mode?", false) -- optional
 
 	schema:register(XMLValueType.STRING, key .. "#generateValuesFunction", "Function to generate values.")
-	schema:register(XMLValueType.INT, key.."#min", "Setting min value")
-	schema:register(XMLValueType.INT, key.."#max", "Setting max value")
+	schema:register(XMLValueType.FLOAT, key.."#min", "Setting min value")
+	schema:register(XMLValueType.FLOAT, key.."#max", "Setting max value")
 	schema:register(XMLValueType.FLOAT, key.."#incremental", "Setting incremental", 1) -- optional
+	schema:register(XMLValueType.FLOAT, key.."#precision", "Setting precision", 2) -- optional
 	schema:register(XMLValueType.STRING, key.."#text", "Setting text") -- optional
 	schema:register(XMLValueType.INT, key .. "#unit", "Setting value unit (km/h, m ...)") --optional
 
@@ -205,6 +207,7 @@ function CpSettingsUtil.loadSettingsFromSetup(class, filePath)
 			settingParameters.min = xmlFile:getValue(baseKey.."#min")
 			settingParameters.max = xmlFile:getValue(baseKey.."#max")
 			settingParameters.incremental = MathUtil.round(xmlFile:getValue(baseKey.."#incremental"), 3)
+			settingParameters.precision = xmlFile:getValue(baseKey.."#precision", 2)
 			settingParameters.textStr = xmlFile:getValue(baseKey.."#text")
 			settingParameters.unit = xmlFile:getValue(baseKey.."#unit")
 

scripts/ai/AIDriveStrategyBunkerSilo.lua

@@ -47,16 +47,11 @@ function AIDriveStrategyBunkerSilo.new(customMt)
     AIDriveStrategyCourse.initStates(self, AIDriveStrategyBunkerSilo.myStates)
     self.state = self.states.DRIVING_TO_SILO
 
-    -- course offsets dynamically set by the AI and added to all tool and other offsets
-    self.aiOffsetX, self.aiOffsetZ = 0, 0
     self.debugChannel = CpDebug.DBG_SILO
-    ---@type ImplementController[]
-    self.controllers = {}
 	self.silo = nil
     self.siloController = nil
     self.drivingForwardsIntoSilo = true
     self.turnNode = CpUtil.createNode("turnNode", 0, 0, 0)
-    
 
     self.isStuckTimer = Timer.new(self.isStuckMs)
     self.driveIntoSiloAttempts = 0
@@ -177,7 +172,7 @@ function AIDriveStrategyBunkerSilo:setAllStaticParameters()
                 else
                     self:startDrivingTemporaryOutOfSilo()
                 end
-            elseif self.siloController:hasNearbyUnloader() and self:isDrivingToParkPositionAllowed() then
+            elseif self.state == self.states.DRIVING_INTO_SILO and self.siloController:hasNearbyUnloader() and self:isDrivingToParkPositionAllowed() then
                 self:debug("Found an unloader nearby and is stuck, so immediately leave the silo.")
                 self:startDrivingOutOfSilo()
             end
@@ -292,15 +287,11 @@ end
 function AIDriveStrategyBunkerSilo:update(dt)
     AIDriveStrategyBunkerSilo:superClass().update(self, dt)
     self:updateImplementControllers(dt)
-
     if CpDebug:isChannelActive(self.debugChannel, self.vehicle) then
-        if self.course then
-            -- TODO_22 check user setting
-            if self.course:isTemporary() then
-                self.course:draw()
-            elseif self.ppc:getCourse():isTemporary() then
-                self.ppc:getCourse():draw()
-            end
+        if self.course and self.course:isTemporary() then
+            self.course:draw()
+        elseif self.ppc:getCourse():isTemporary() then
+            self.ppc:getCourse():draw()
         end
         if self.siloEndDetectionMarker ~= nil then
             DebugUtil.drawDebugNode(self.siloEndDetectionMarker, "siloEndDetectionMarker", false, 1)

scripts/ai/AIDriveStrategyCourse.lua

@@ -111,6 +111,10 @@ function AIDriveStrategyCourse:setAIVehicle(vehicle, jobParameters)
     self:initializeImplementControllers(vehicle)
     self.ppc = PurePursuitController(vehicle)
     self.ppc:registerListeners(self, 'onWaypointPassed', 'onWaypointChange')
+
+    self.pathfinderController = PathfinderController(vehicle)
+    self.pathfinderController:registerListeners(self, self.onPathfindingFinished, self.onPathfindingRetry)
+
     self.storage = vehicle.spec_cpAIWorker
 
     self.settings = vehicle:getCpSettings()
@@ -428,8 +432,9 @@ function AIDriveStrategyCourse:getCurrentCourse()
     return self.ppc:getCourse() or self.course
 end
 
-function AIDriveStrategyCourse:update()
+function AIDriveStrategyCourse:update(dt)
     self.ppc:update()
+    self.pathfinderController:update(dt)
     self:updatePathfinding()
     self:updateInfoTexts()
 end
@@ -579,6 +584,24 @@ end
 function AIDriveStrategyCourse:onWaypointPassed(ix, course)
 end
 
+--- Pathfinding has finished
+---@param controller PathfinderController
+---@param success boolean
+---@param course Course|nil
+---@param goalNodeInvalid boolean|nil
+function AIDriveStrategyCourse:onPathfindingFinished(controller, success, course, goalNodeInvalid)
+    -- override
+end
+
+--- Pathfinding failed, but a retry attempt is leftover.
+---@param controller PathfinderController
+---@param lastContext PathfinderControllerContext
+---@param wasLastRetry boolean
+---@param currentRetryAttempt number
+function AIDriveStrategyCourse:onPathfindingRetry(controller, lastContext, wasLastRetry, currentRetryAttempt)
+    -- override
+end
+
 ------------------------------------------------------------------------------------------------------------------------
 --- Pathfinding
 ---------------------------------------------------------------------------------------------------------------------------

scripts/ai/AIDriveStrategyDriveToFieldWorkStart.lua

@@ -84,11 +84,11 @@ function AIDriveStrategyDriveToFieldWorkStart:start(course, startIx, jobParamete
                 nVehicles > 1 and jobParameters.laneOffset:getValue() or 0,
                 course:getWorkWidth() / nVehicles)
         local implement = AIUtil.getImplementWithSpecialization(self.vehicle, Cutter)
-        if self:giantsPreFoldHeaderWithWheelsFix(implement) then 
+        if self.settings.foldImplementAtEnd:getValue() then
             self.vehicle:prepareForAIDriving()
+        end
+        if self:giantsPreFoldHeaderWithWheelsFix(implement) then 
             self:giantsPostFoldHeaderWithWheelsFix(implement)
-        else 
-            self.vehicle:prepareForAIDriving()
         end
         self:startCourseWithPathfinding(course, startIx)
     end
@@ -130,7 +130,7 @@ function AIDriveStrategyDriveToFieldWorkStart:getDriveData(dt, vX, vY, vZ)
     elseif self.state == self.states.PREPARE_TO_DRIVE then
         self:setMaxSpeed(0)
         local isReadyToDrive, blockingVehicle = self.vehicle:getIsAIReadyToDrive()
-        if isReadyToDrive then
+        if isReadyToDrive or not self.settings.foldImplementAtEnd:getValue() then
             self.state = self.states.DRIVING_TO_WORK_START
             self:debug('Ready to drive to work start')
         else