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Issue 906 907 #929

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Merged
Tensuko merged 4 commits into from
Jun 28, 2025
Merged

Issue 906 907 #929

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7681dda
WIP small adjustments for #906 #907
schwiti6190 Jun 8, 2025
63a84dd
bug fix
schwiti6190 Jun 23, 2025
12fb80d
Removed leftover code
schwiti6190 Jun 23, 2025
e002d0a
Another margin adjustment for high dump shovels
schwiti6190 Jun 28, 2025
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3 changes: 0 additions & 3 deletions scripts/ai/controllers/ShovelController.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -156,9 +156,6 @@ function ShovelController:isShovelOverTrailer(refNode, margin)
local _, _, distShovelToRoot = localToLocal(node, self.implement.rootVehicle:getAIDirectionNode(), 0, 0, 0)
local _, _, distTrailerToRoot = localToLocal(refNode, self.implement.rootVehicle:getAIDirectionNode(), 0, 0, 0)
margin = margin or 0
if self:isHighDumpShovel() then
margin = margin + 1
end
return ( distTrailerToRoot - distShovelToRoot ) < margin
end

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35 changes: 27 additions & 8 deletions scripts/ai/strategies/AIDriveStrategyShovelSiloLoader.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,7 @@ function AIDriveStrategyShovelSiloLoader:init(task, job)
AIDriveStrategyCourse.initStates(self, AIDriveStrategyShovelSiloLoader.myStates)
self.state = self.states.INITIAL
self.debugChannel = CpDebug.DBG_SILO
self.unloadPositionNode = CpUtil.createNode("unloadPositionNode", 0, 0, 0)
return self
end

Expand Down Expand Up @@ -126,7 +127,6 @@ function AIDriveStrategyShovelSiloLoader:startWithoutCourse(jobParameters)
self:startCourse(self.course, 1)

self.jobParameters = jobParameters
self.unloadPositionNode = CpUtil.createNode("unloadPositionNode", 0, 0, 0)

--- Is the unload target a trailer?
self.isUnloadingAtTrailerActive = jobParameters.unloadAt:getValue() == CpSiloLoaderJobParameters.UNLOAD_TRAILER
Expand Down Expand Up @@ -330,26 +330,44 @@ function AIDriveStrategyShovelSiloLoader:getDriveData(dt, vX, vY, vZ)
end
elseif self.state == self.states.DRIVING_TO_UNLOAD then
self:setMaxSpeed(self.settings.reverseSpeed:getValue())
local refNode
local refNode, margin = nil, 0
if self.isUnloadingAtTrailerActive then
refNode = self.targetTrailer.exactFillRootNode
--- Applies a small offset, so we don't overshoot the trailer center.
margin = self.shovelController:isHighDumpShovel() and 1 or 0
else
refNode = self.unloadTrigger:getFillUnitExactFillRootNode(1)
end
if self.shovelController:isShovelOverTrailer(refNode) then
if self.shovelController:isShovelOverTrailer(refNode, margin) then
self:setNewState(self.states.UNLOADING)
self:setMaxSpeed(0)
end
if not self.isUnloadingAtTrailerActive then
if self.shovelController:isShovelOverTrailer(refNode, 3) and self.shovelController:canDischarge(self.unloadTrigger) then
if self.shovelController:isShovelOverTrailer(refNode, 3) and
self.shovelController:canDischarge(self.unloadTrigger) then

self:setNewState(self.states.UNLOADING)
self:setMaxSpeed(0)
end
end
elseif self.state == self.states.UNLOADING then
self:setMaxSpeed(0)
if self:hasFinishedUnloading() then
self:startReversingAwayFromUnloading()
self:setMaxSpeed(0)
else
if self.shovelController:isHighDumpShovel() and
not self.shovelController:isDischarging() then
--- Makes sure we move slightly forwards,
--- as the high dump offset might not work for
--- unloading of the complete shovel.
if self.shovelController:isShovelOverTrailer(
self.targetTrailer.exactFillRootNode, -0.5) then

self:setMaxSpeed(0)
end
else
self:setMaxSpeed(0)
end
end
elseif self.state == self.states.REVERSING_AWAY_FROM_UNLOAD then
self:setMaxSpeed(self.settings.fieldSpeed:getValue())
Expand Down Expand Up @@ -534,17 +552,18 @@ function AIDriveStrategyShovelSiloLoader:searchForTrailerToUnloadInto()
if dx > 0 then
local x, y, z = localToWorld(trailer.rootNode, math.abs(distShovelDirectionNode) + self.distShovelTrailerPreUnload, 0, 0)
setTranslation(self.unloadPositionNode, x, y, z)
setRotation(self.unloadPositionNode, 0, MathUtil.getValidLimit(yRot - math.pi / 2), 0)
setWorldRotation(self.unloadPositionNode, 0, yRot - math.pi / 2, 0)
else
local x, y, z = localToWorld(trailer.rootNode, -math.abs(distShovelDirectionNode) - self.distShovelTrailerPreUnload, 0, 0)
setTranslation(self.unloadPositionNode, x, y, z)
setRotation(self.unloadPositionNode, 0, MathUtil.getValidLimit(yRot + math.pi / 2), 0)
setWorldRotation(self.unloadPositionNode, 0, yRot + math.pi / 2, 0)
end
if trailer["spec_pdlc_goeweilPack.balerStationary"] or trailer.size.length < 4 then
--- Goeweil needs to be approached from behind
self:debug("Approaching the trailer from behind.")
local x, y, z = localToWorld(trailer.rootNode, 0, 0, - math.abs(distShovelDirectionNode) - distRootNodeToExactFillRootNode - self.distShovelTrailerPreUnload)
setTranslation(self.unloadPositionNode, x, y, z)
setRotation(self.unloadPositionNode, 0, yRot, 0)
setWorldRotation(self.unloadPositionNode, 0, yRot, 0)
end
self:startPathfindingToTrailer()
end
Expand Down
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