6.03.00056 MP and baler fixes

- Fixes #7100
- Bale unload at triggers fixed (#6859)
- Made the Anderson round balers work
- Baler offset is now configurable in VehicleConfigurations.xml
(see baleCollectorOffset description)

Author: pvaiko

BaleCollectorAIDriver.lua

@@ -149,19 +149,32 @@ end
 ---@return BaleToCollect, number closest bale and its distance
 function BaleCollectorAIDriver:findClosestBale(bales)
 	local closestBale, minDistance, ix = nil, math.huge
+	local invalidBales = 0
 	for i, bale in ipairs(bales) do
-		local _, _, _, d = bale:getPositionInfoFromNode(AIDriverUtil.getDirectionNode(self.vehicle))
-		self:debug('%d. bale (%d) in %.1f m', i, bale:getId(), d)
-		if d < self.vehicle.cp.turnDiameter * 2 then
-			-- if it is really close, check the length of the Dubins path
-			-- as we may need to drive a loop first to get to it
-			d = self:getDubinsPathLengthToBale(bale)
-			self:debug('    Dubins length is %.1f m', d)
-		end
-		if d < minDistance then
-			closestBale = bale
-			minDistance = d
-			ix = i
+		if bale:isStillValid() then
+			local _, _, _, d = bale:getPositionInfoFromNode(AIDriverUtil.getDirectionNode(self.vehicle))
+			self:debug('%d. bale (%d, %s) in %.1f m', i, bale:getId(), bale:getBaleObject(), d)
+			if d < self.vehicle.cp.turnDiameter * 2 then
+				-- if it is really close, check the length of the Dubins path
+				-- as we may need to drive a loop first to get to it
+				d = self:getDubinsPathLengthToBale(bale)
+				self:debug('    Dubins length is %.1f m', d)
+			end
+			if d < minDistance then
+				closestBale = bale
+				minDistance = d
+				ix = i
+			end
+		else
+			--- When a bale gets wrapped it changes its identity and the node becomes invalid. This can happen
+			--- when we pick up (and wrap) a bale other than the target bale, for example because there's another bale
+			--- in the grabber's way. That is now wrapped but our bale list does not know about it so let's rescan the field
+			self:debug('%d. bale (%d, %s) INVALID', i, bale:getId(), bale:getBaleObject())
+			invalidBales = invalidBales + 1
+			self:debug('Found an invalid bales, rescanning field', invalidBales)
+			self.bales = self:findBales(self.vehicle.cp.settings.baleCollectionField:get())
+			-- return empty, next time this is called everything should be ok
+			return
 		end
 	end
 	return closestBale, minDistance, ix
@@ -209,11 +222,14 @@ function BaleCollectorAIDriver:startPathfindingToBale(bale)
 		self:debug('Start pathfinding to next bale (%d), safe distance from bale %.1f, half vehicle width %.1f',
 			bale:getId(), safeDistanceFromBale, halfVehicleWidth)
 		local goal = self:getBaleTarget(bale)
-		local offset = Vector(0, safeDistanceFromBale + halfVehicleWidth + 0.2)
+		local configuredOffset = self:getConfiguredOffset()
+		local offset = Vector(0, safeDistanceFromBale +
+			(configuredOffset and configuredOffset or (halfVehicleWidth + 0.2)))
 		goal:add(offset:rotate(goal.t))
 		local done, path, goalNodeInvalid
 		self.pathfinder, done, path, goalNodeInvalid =
-			PathfinderUtil.startPathfindingFromVehicleToGoal(self.vehicle, goal, false, self.fieldId, {})
+			PathfinderUtil.startPathfindingFromVehicleToGoal(self.vehicle, goal, false, self.fieldId,
+				{}, self.lastBale and {self.lastBale} or {})
 		if done then
 			return self:onPathfindingDoneToNextBale(path, goalNodeInvalid)
 		else
@@ -272,8 +288,11 @@ function BaleCollectorAIDriver:isObstacleAhead()
 			return true
 		end
 	end
-	-- then a more thorough check
-	local leftOk, rightOk, straightOk = PathfinderUtil.checkForObstaclesAhead(self.vehicle, self.turnRadius)
+	-- then a more thorough check, we want to ignore the last bale we worked on as that may lay around too close
+	-- to the baler. This happens for example to the Andersen bale wrapper.
+	self:debug('Check obstacles ahead, ignoring bale object %s', self.lastBale and self.lastBale or 'nil')
+	local leftOk, rightOk, straightOk =
+	PathfinderUtil.checkForObstaclesAhead(self.vehicle, self.turnRadius, self.lastBale and{self.lastBale})
 	-- if at least one is ok, we are good to go.
 	return not (leftOk or rightOk or straightOk)
 end
@@ -297,7 +316,7 @@ function BaleCollectorAIDriver:onLastWaypoint()
 			self:debug('last waypoint on bale pickup reached, start collecting bales again')
 			self:collectNextBale()
 		elseif self.baleCollectingState == self.states.APPROACHING_BALE then
-			self:debug('looks like somehow missed a bale, rescanning field')
+			self:debug('looks like somehow we missed a bale, rescanning field')
 			self.bales = self:findBales(self.vehicle.cp.settings.baleCollectionField:get())
 			self:collectNextBale()
 		elseif self.baleCollectingState == self.states.REVERSING_AFTER_PATHFINDER_FAILURE then
@@ -376,7 +395,8 @@ function BaleCollectorAIDriver:workOnBale()
 	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.lastBale = self.baleWrapper.spec_baleWrapper.lastDroppedBale
+			self:debug('Bale wrapped, moving on to the next, last dropped bale %s', self.lastBale)
 			self:collectNextBale()
 		end
 	end
@@ -386,6 +406,14 @@ function BaleCollectorAIDriver:calculateTightTurnOffset()
 	self.tightTurnOffset = 0
 end
 
+function BaleCollectorAIDriver:getConfiguredOffset()
+	if self.baleLoader then
+		return g_vehicleConfigurations:get(self.baleLoader, 'baleCollectorOffset')
+	elseif self.baleWrapper then
+		return g_vehicleConfigurations:get(self.baleWrapper, 'baleCollectorOffset')
+	end
+end
+
 function BaleCollectorAIDriver:getFillLevel()
 	local fillLevelInfo = {}
 	self:getAllFillLevels(self.vehicle, fillLevelInfo)

BaleLoaderAIDriver.lua

@@ -115,10 +115,9 @@ function BaleLoaderAIDriver:driveUnloadOrRefill(dt)
 			self:debug('Approaching unload point.')
 
 		elseif self:haveBales() and self.unloadRefillState == self.states.APPROACHING_UNLOAD_POINT then
-			local unloadNode = self:getUnloadNode(nearUnloadPoint, unloadPointIx)
-			dz = calcDistanceFrom(unloadNode, self.baleLoader.cp.realUnloadOrFillNode)
-			self:debugSparse('distance to unload point: %.1f', dz)
-			if math.abs(dz) < 1 or self:tooCloseToOtherBales() then
+			local d = self:getDistanceFromUnloadNode(nearUnloadPoint, unloadPointIx)
+			self:debugSparse('distance to unload point: %.1f', d)
+			if math.abs(d) < 1 or self:tooCloseToOtherBales() then
 				self:debug('Unload point reached.')
 				self.unloadRefillState = self.states.UNLOADING
 			end
@@ -203,13 +202,18 @@ function BaleLoaderAIDriver:getFillType()
 end
 
 --- Unload node is either an unload waypoint or an unload trigger
-function BaleLoaderAIDriver:getUnloadNode(isUnloadpoint, unloadPointIx)
+function BaleLoaderAIDriver:getDistanceFromUnloadNode(isUnloadpoint, unloadPointIx)
 	if isUnloadpoint then
 		self:debugSparse('manual unload point at ix = %d', unloadPointIx)
 		self.manualUnloadNode:setToWaypoint(self.course, unloadPointIx)
-		return self.manualUnloadNode.node
+		-- don't use dz here as the course to the manual unload point as it is often on a reverse
+		-- section and other parts of the course may be very close to the unload point, triggering
+		-- this way too early
+		return calcDistanceFrom(self.manualUnloadNode.node, self.baleLoader.cp.realUnloadOrFillNode)
 	else
-		return self.vehicle.cp.currentTipTrigger.triggerId
+		local _, _, d = localToLocal(self.vehicle.cp.currentTipTrigger.triggerId,
+			self.baleLoader.cp.realUnloadOrFillNode, 0, 0, 0)
+		return d
 	end
 end
 

BaleToCollect.lua

@@ -56,6 +56,10 @@ function BaleToCollect.isValidBale(object, baleWrapper)
 	end
 end
 
+function BaleToCollect:isStillValid()
+	return BaleToCollect.isValidBale(self.bale)
+end
+
 function BaleToCollect:isLoaded()
 	return self.bale.mountObject
 end
@@ -68,6 +72,14 @@ function BaleToCollect:getId()
 	return self.bale.id
 end
 
+function BaleToCollect:getBaleObjectId()
+	return NetworkUtil.getObjectId(self.bale)
+end
+
+function BaleToCollect:getBaleObject()
+	return self.bale
+end
+
 function BaleToCollect:getPosition()
 	return getWorldTranslation(self.bale.nodeId)
 end

DevHelper.lua

@@ -108,7 +108,7 @@ function DevHelper:overlapBoxCallback(transformId)
             text = 'vehicle' .. collidingObject:getName()
         else
 			if collidingObject:isa(Bale) then
-				text = 'Bale'
+				text = 'Bale ' .. tostring(collidingObject) .. ' ' .. tostring(NetworkUtil.getObjectId(collidingObject))
 			else
             	text = collidingObject.getName and collidingObject:getName() or 'N/A'
 			end
@@ -202,7 +202,7 @@ function DevHelper:startPathfinding()
         local start = State3D:copy(self.start)
 
         self.pathfinder, done, path =  PathfinderUtil.startPathfindingFromVehicleToGoal(self.vehicle, self.goal,
-                false, self.fieldNumForPathfinding or 0, {}, 10)
+                false, self.fieldNumForPathfinding or 0, {}, {}, 10)
 
     end
 

VehicleConfigurations.lua

@@ -34,9 +34,10 @@ VehicleConfigurations.attributes = {
     {name = 'turnRadius', getXmlFunction = getXMLFloat},
     {name = 'workingWidth', getXmlFunction = getXMLFloat},
     {name = 'balerUnloadDistance', getXmlFunction = getXMLFloat},
-    {name = 'directionNodeToOffsetZ', getXmlFunction = getXMLFloat},
+    {name = 'directionNodeOffsetZ', getXmlFunction = getXMLFloat},
     {name = 'implementWheelAlwaysOnGround', getXmlFunction = getXMLBool},
-    {name = 'ignoreCollisionBoxesWhenFolded', getXmlFunction = getXMLBool}
+    {name = 'ignoreCollisionBoxesWhenFolded', getXmlFunction = getXMLBool},
+	{name = 'baleCollectorOffset', getXmlFunction = getXMLFloat},
 }
 
 function VehicleConfigurations:init()

config/VehicleConfigurations.xml

@@ -61,6 +61,11 @@ You can define the following custom settings:
 	For this scenario the collision box is useless when folded, so when ignoreCollisionBoxesOnStreet is true,
     Courseplay will not detect collisions for this vehicle when it is folded.
 
+- baleCollectorOffset: number
+	Offset in meters to use in bale collector mode (Mode 7). This is the distance between the tractor's centerline
+	and the edge of the bale when the bale grabber is right where it should be to pick up the bale.
+	Courseplay will adjust this offset according to the bale's dimensions but you may want to add a little buffer.
+
 -->
 <VehicleConfigurations>
     <!--[GIANTS]-->
@@ -170,13 +175,20 @@ You can define the following custom settings:
     <!--Harvester-->
 
     <!--Implements-->
+    <!--Anderson-->
+    <Vehicle name="RB580.xml"
+             baleCollectorOffset="1.4"
+    />
     <!--Kverneland-->
     <Vehicle name="iXterB18.xml"
              ignoreCollisionBoxesWhenFolded="true"
     />
     <Vehicle name="iXtrackT4.xml"
              ignoreCollisionBoxesWhenFolded="true"
     />
+    <Vehicle name="wrapper7850C.xml"
+             baleCollectorOffset="1.5"
+    />
     <!--Bourgault-->
     <Vehicle name="series3320.xml"
              noReverse="true"
@@ -216,6 +228,7 @@ You can define the following custom settings:
     <Vehicle name="z586.xml"
              toolOffsetX="-2.5"
              noReverse="true"
+			 baleCollectorOffset="1.3"
     />
     <!--Tractors and Others-->
 

course-generator/PathfinderUtil.lua

@@ -203,11 +203,12 @@ end
 --- Pathfinder context
 ---@class PathfinderUtil.Context
 PathfinderUtil.Context = CpObject()
-function PathfinderUtil.Context:init(vehicle, vehiclesToIgnore)
+function PathfinderUtil.Context:init(vehicle, vehiclesToIgnore, objectsToIgnore)
     self.vehicleData = PathfinderUtil.VehicleData(vehicle, true, 0.5)
 	self.trailerHitchLength = AIDriverUtil.getTowBarLength(vehicle)
 	self.turnRadius = vehicle.cp and vehicle.cp.driver and AIDriverUtil.getTurningRadius(vehicle) or 10
-	self.vehiclesToIgnore = vehiclesToIgnore
+	self.vehiclesToIgnore = vehiclesToIgnore or {}
+	self.objectsToIgnore = objectsToIgnore or {}
 end
 
 --- Calculate the four corners of a rectangle around a node (for example the area covered by a vehicle)
@@ -276,6 +277,10 @@ end
 
 function PathfinderUtil.CollisionDetector:overlapBoxCallback(transformId)
     local collidingObject = g_currentMission.nodeToObject[transformId]
+	if collidingObject and PathfinderUtil.elementOf(self.objectsToIgnore, collidingObject) then
+		-- an object we want to ignore
+		return
+	end
     if collidingObject and collidingObject.getRootVehicle then
         local rootVehicle = collidingObject:getRootVehicle()
         if rootVehicle == self.vehicleData.rootVehicle or
@@ -292,13 +297,14 @@ function PathfinderUtil.CollisionDetector:overlapBoxCallback(transformId)
                 text = text .. ' ' .. key
             end
         end
-				self.collidingShapesText = text
+		self.collidingShapesText = text
         self.collidingShapes = self.collidingShapes + 1
     end
 end
 
-function PathfinderUtil.CollisionDetector:findCollidingShapes(node, vehicleData, vehiclesToIgnore, log)
+function PathfinderUtil.CollisionDetector:findCollidingShapes(node, vehicleData, vehiclesToIgnore, objectsToIgnore, log)
     self.vehiclesToIgnore = vehiclesToIgnore or {}
+    self.objectsToIgnore = objectsToIgnore or {}
     self.vehicleData = vehicleData
     -- the box for overlapBox() is symmetric, so if our root node is not in the middle of the vehicle rectangle,
     -- we have to translate it into the middle
@@ -311,8 +317,8 @@ function PathfinderUtil.CollisionDetector:findCollidingShapes(node, vehicleData,
     local xRot, yRot, zRot = getWorldRotation(node)
     local x, y, z = localToWorld(node, xOffset, 1, zOffset)
 
-    self.collidingShapes = 0
-		self.collidingShapesText = 'unknown'
+	self.collidingShapes = 0
+	self.collidingShapesText = 'unknown'
 
     overlapBox(x, y + 0.2, z, xRot, yRot, zRot, width, 1, length, 'overlapBoxCallback', self, bitOR(AIVehicleUtil.COLLISION_MASK, 2), true, true, true)
     if log and self.collidingShapes > 0 then
@@ -488,17 +494,18 @@ function PathfinderConstraints:isValidNode(node, log, ignoreTrailer)
     local myCollisionData = PathfinderUtil.getBoundingBoxInWorldCoordinates(PathfinderUtil.helperNode, self.context.vehicleData, 'me')
     -- for debug purposes only, store validity info on node
     node.collidingShapes = PathfinderUtil.collisionDetector:findCollidingShapes(
-            PathfinderUtil.helperNode, self.context.vehicleData, self.context.vehiclesToIgnore, log)
+		PathfinderUtil.helperNode, self.context.vehicleData, self.context.vehiclesToIgnore, self.context.objectsToIgnore, log)
     if self.context.vehicleData.trailer and not ignoreTrailer then
         -- now check the trailer or towed implement
         -- move the node to the rear of the vehicle (where approximately the trailer is attached)
-        local x, y, z = localToWorld(PathfinderUtil.helperNode, 0, 0, self.context.vehicleData.trailerHitchOffset)
+		local x, y, z = localToWorld(PathfinderUtil.helperNode, 0, 0, self.context.vehicleData.trailerHitchOffset)
 
-				PathfinderUtil.setWorldPositionAndRotationOnTerrain(PathfinderUtil.helperNode, x, z,
-					courseGenerator.toCpAngle(node.tTrailer), 0.5)
+		PathfinderUtil.setWorldPositionAndRotationOnTerrain(PathfinderUtil.helperNode, x, z,
+			courseGenerator.toCpAngle(node.tTrailer), 0.5)
 
         node.collidingShapes = node.collidingShapes + PathfinderUtil.collisionDetector:findCollidingShapes(
-                PathfinderUtil.helperNode, self.context.vehicleData.trailerRectangle, self.context.vehiclesToIgnore, log)
+			PathfinderUtil.helperNode, self.context.vehicleData.trailerRectangle, self.context.vehiclesToIgnore,
+			self.context.objectsToIgnore, log)
     end
     local isValid = node.collidingShapes == 0
     if not isValid then
@@ -542,17 +549,18 @@ end
 ---@param goal State3D
 function PathfinderUtil.startPathfindingFromVehicleToGoal(vehicle, goal,
                                                           allowReverse, fieldNum,
-                                                          vehiclesToIgnore, maxFruitPercent, offFieldPenalty, mustBeAccurate)
+                                                          vehiclesToIgnore, objectsToIgnore,
+														  maxFruitPercent, offFieldPenalty, mustBeAccurate)
 
-		local start = PathfinderUtil.getVehiclePositionAsState3D(vehicle)
+	local start = PathfinderUtil.getVehiclePositionAsState3D(vehicle)
 
-    local vehicleData = PathfinderUtil.VehicleData(vehicle, true, 0.5)
+	local vehicleData = PathfinderUtil.VehicleData(vehicle, true, 0.5)
 
-		PathfinderUtil.initializeTrailerHeading(start, vehicleData)
+	PathfinderUtil.initializeTrailerHeading(start, vehicleData)
 
-    local context = PathfinderUtil.Context(vehicle, vehiclesToIgnore)
+	local context = PathfinderUtil.Context(vehicle, vehiclesToIgnore, objectsToIgnore)
 
-    local constraints = PathfinderConstraints(context,
+	local constraints = PathfinderConstraints(context,
             maxFruitPercent or (vehicle.cp.settings.useRealisticDriving:is(true) and 50 or math.huge),
             offFieldPenalty or PathfinderUtil.defaultOffFieldPenalty,
             fieldNum)
@@ -709,7 +717,7 @@ function PathfinderUtil.startPathfindingFromVehicleToWaypoint(vehicle, goalWaypo
     local offset = Vector(zOffset, -xOffset)
     goal:add(offset:rotate(goal.t))
     return PathfinderUtil.startPathfindingFromVehicleToGoal(
-            vehicle, goal, allowReverse, fieldNum, vehiclesToIgnore, maxFruitPercent, offFieldPenalty)
+            vehicle, goal, allowReverse, fieldNum, vehiclesToIgnore, {}, maxFruitPercent, offFieldPenalty)
 end
 ------------------------------------------------------------------------------------------------------------------------
 --- Interface function to start the pathfinder in the game. The goal is a point at sideOffset meters from the goal node
@@ -733,7 +741,7 @@ function PathfinderUtil.startPathfindingFromVehicleToNode(vehicle, goalNode,
     local goal = State3D(x, -z, courseGenerator.fromCpAngle(yRot))
     return PathfinderUtil.startPathfindingFromVehicleToGoal(
             vehicle, goal, allowReverse, fieldNum,
-            vehiclesToIgnore, maxFruitPercent, offFieldPenalty, mustBeAccurate)
+            vehiclesToIgnore, {}, maxFruitPercent, offFieldPenalty, mustBeAccurate)
 end
 
 ------------------------------------------------------------------------------------------------------------------------
@@ -778,7 +786,7 @@ end
 -- Then check all three for collisions with obstacles.
 ---@return boolean, boolean, boolean true if no obstacles left, right, straight ahead
 ------------------------------------------------------------------------------------------------------------------------
-function PathfinderUtil.checkForObstaclesAhead(vehicle, turnRadius)
+function PathfinderUtil.checkForObstaclesAhead(vehicle, turnRadius, objectsToIgnore)
 
 	local function isValidPath(constraints, path)
 		for i, node in ipairs(path) do
@@ -806,7 +814,7 @@ function PathfinderUtil.checkForObstaclesAhead(vehicle, turnRadius)
 	local start = PathfinderUtil.getVehiclePositionAsState3D(vehicle)
 	local vehicleData = PathfinderUtil.VehicleData(vehicle, true, 0.5)
 	PathfinderUtil.initializeTrailerHeading(start, vehicleData)
-	local context = PathfinderUtil.Context(vehicle, {})
+	local context = PathfinderUtil.Context(vehicle, {}, objectsToIgnore)
 	local constraints = PathfinderConstraints(context, math.huge, 0, 0)
 	ensureHelperNode()
 

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="53">
-	<version>6.03.00055</version>
+	<version>6.03.00056</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>