Merge pull request #708 from Courseplay/nexat

fix: Nexat reversing

Author: Tensuko

scripts/ai/PurePursuitController.lua

@@ -169,9 +169,9 @@ end
 -- remain in initializing mode if the waypoint is too far back from the controlled node, and just
 -- reverse forever
 function PurePursuitController:initializeForReversing(ix)
-    local reverserNode = self:getReverserNode()
+    local reverserNode, debugText = self:getReverserNode(false)
     if reverserNode then
-        self:debug('Reverser node found, initializing with it')
+        self:debug('Reverser node %s found, initializing with it', debugText)
         -- don't use ix as it is, instead, find the waypoint closest to the reverser node
         local dPrev, d = math.huge, self.course:getWaypoint(ix):getDistanceFromNode(reverserNode)
         while d < dPrev and self.course:isReverseAt(ix) and ix < self.course:getNumberOfWaypoints() do
@@ -253,11 +253,11 @@ function PurePursuitController:getLastPassedWaypointIx()
 end
 
 ---@return number, string node that would be used for reversing, debug text explaining what node it is
-function PurePursuitController:getReverserNode()
+function PurePursuitController:getReverserNode(suppressLog)
     if not self.reversingImplement then
-        self.reversingImplement = AIUtil.getFirstReversingImplementWithWheels(self.vehicle, true)
+        self.reversingImplement = AIUtil.getFirstReversingImplementWithWheels(self.vehicle,  suppressLog)
     end
-    return AIUtil.getReverserNode(self.vehicle, self.reversingImplement, true)
+    return AIUtil.getReverserNode(self.vehicle, self.reversingImplement, suppressLog)
 end
 
 --- When reversing, use the towed implement's node as a reference
@@ -266,7 +266,7 @@ function PurePursuitController:switchControlledNode()
     local debugText = 'AIDirectionNode'
     local reverserNode
     if self:isReversing() then
-        reverserNode, debugText = self:getReverserNode()
+        reverserNode, debugText = self:getReverserNode(true)
         if reverserNode then
             self:setControlledNode(reverserNode)
         else

scripts/ai/util/AIUtil.lua

@@ -202,25 +202,16 @@ function AIUtil.getTractorRadiusFromImplementRadius(r, towBarLength)
 	return rTractor
 end
 
-function AIUtil.getArticulatedAxisVehicleReverserNode(vehicle)
-	local reverserNode, debugText
-	-- articulated axis vehicles have a special reverser node
-	-- and yes, Giants has a typo in there...
-	if vehicle.spec_articulatedAxis.aiRevereserNode ~= nil then
-		reverserNode = vehicle.spec_articulatedAxis.aiRevereserNode
-		debugText = 'vehicle articulated axis reverese'
-	elseif vehicle.spec_articulatedAxis.aiReverserNode ~= nil then
-		reverserNode = vehicle.spec_articulatedAxis.aiReverserNode
-		debugText = 'vehicle articulated axis reverse'
-	end
-	return reverserNode, debugText
-end
-
 -- Find the node to use by the PPC when driving in reverse
 function AIUtil.getReverserNode(vehicle, reversingImplement, suppressLog)
 	local reverserNode, debugText
 	-- if there's a reverser node on the tool, use that
-	reverserNode, debugText = AIVehicleUtil.getAIToolReverserDirectionNode(vehicle), 'AIToolReverserDirectionNode'
+	reverserNode, debugText = AIVehicleUtil.getAIToolReverserDirectionNode(vehicle), 'AIVehicleUtil.AIToolReverserDirectionNode()'
+    if not reverserNode then
+		-- the vehicle may also have a tool reverser node, likely for the Nexat, this is the order Giants checks it
+		-- in their driver.
+        reverserNode, debugText = vehicle:getAIToolReverserDirectionNode(), 'vehicle:AIToolReverserDirectionNode()'
+    end
 	if not reverserNode then
 		reversingImplement = reversingImplement and reversingImplement or AIUtil.getFirstReversingImplementWithWheels(vehicle, suppressLog)
 		if reversingImplement and reversingImplement.steeringAxleNode then
@@ -230,9 +221,6 @@ function AIUtil.getReverserNode(vehicle, reversingImplement, suppressLog)
 	if not reverserNode and vehicle.getAIReverserNode then
 		reverserNode, debugText = vehicle:getAIReverserNode(), 'AIReverserNode'
 	end
-	if not reverserNode and vehicle.spec_articulatedAxis ~= nil then
-		reverserNode, debugText = AIUtil.getArticulatedAxisVehicleReverserNode(vehicle)
-	end
 	return reverserNode, debugText
 end
 
@@ -764,7 +752,7 @@ end
 --- FS22_UniversalAutoload from Loki79uk: https://github.com/loki79uk/FS22_UniversalAutoload
 function AIUtil.hasValidUniversalTrailerAttached(vehicle)
     local implements, found = AIUtil.getAllChildVehiclesWithSpecialization(vehicle, nil, "spec_universalAutoload")
-	if not found then 
+	if not found then
 		return false
 	end
 	local spec = implements[1].spec_universalAutoload

scripts/dev/ConsoleCommands.lua

@@ -6,7 +6,7 @@ CpConsoleCommands.commands = {
 	{ 'cpAddMoney', 'adds money', 'addMoney' },
 	{ 'cpRestartSaveGame', 'Load and start a savegame', 'restartSaveGame' },
 	{ 'cpReturnToSaveGameSelect', 'Returns to the menu', 'returnToSaveGameSelect' },
-	{ 'print', 'Print a variable', 'printVariable' },
+	{ 'print', 'Print a variable ($vehicle is replaced with CpUtil.getCurrentVehicle())', 'printVariable' },
 	{ 'printGlobalCpVariable', 'Print a global cp variable', 'printGlobalCpVariable' },
 	{ 'printVehicleVariable', 'Print CpUtil.getCurrentVehicle().variable', 'printVehicleVariable' },
 	{ 'printImplementVariable', 'printImplementVariable <implement index> <variable>', 'printImplementVariable' },
@@ -97,6 +97,7 @@ end
 ---@param printToXML number should the variable be printed to an xml file ? (optional)
 ---@param printToSeparateXmlFiles number should the variable be printed to an xml file named after the variable ? (optional)
 function CpConsoleCommands:printVariable(variableName, maxDepth, printToXML, printToSeparateXmlFiles)
+	variableName = variableName:gsub('$vehicle', 'CpUtil.getCurrentVehicle()')
 	if printToXML and tonumber(printToXML) and tonumber(printToXML)>0 then
 		CpUtil.printVariableToXML(variableName, maxDepth, printToSeparateXmlFiles)
 		return

scripts/dev/DevHelper.lua

@@ -313,16 +313,22 @@ function DevHelper:showAIMarkers()
     end
     local reverseNode = self.vehicle:getAIReverserNode()
     if reverseNode then
-        CpUtil.drawDebugNode(reverseNode, false , 4.5, "AiReverseNode")
+        CpUtil.drawDebugNode(reverseNode, false , 4.2, "AiReverseNode")
     end
     local steeringNode = self.vehicle:getAISteeringNode()
     if steeringNode then
-        CpUtil.drawDebugNode(steeringNode, false , 5, "AiSteeringNode")
+        CpUtil.drawDebugNode(steeringNode, false , 4.4, "AiSteeringNode")
     end
-    local articulatedAxisReverseNode = AIUtil.getArticulatedAxisVehicleReverserNode(self.vehicle)
-    if articulatedAxisReverseNode then
-        CpUtil.drawDebugNode(articulatedAxisReverseNode, false , 5.5, "AiArticulatedAxisReverseNode")
+
+    local reverserNode = AIVehicleUtil.getAIToolReverserDirectionNode(self.vehicle)
+    if reverserNode then
+        CpUtil.drawDebugNode(reverserNode, false , 4.8, "AIVehicleUtil.AIToolReverserDirectionNode()")
+    end
+    reverserNode = self.vehicle:getAIToolReverserDirectionNode()
+    if reverserNode then
+        CpUtil.drawDebugNode(reverserNode, false , 5.0, 'vehicle:AIToolReverserDirectionNode()')
     end
+
 end
 
 function DevHelper:togglePpcControlledNode()