Bug fix for bunker silo driver #2783

Courseplay · Oct 18, 2023 · 283df35 · 283df35
1 parent 4fcef26
commit 283df35
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 17 deletions.
diff --git a/scripts/ai/AIDriveStrategyBunkerSilo.lua b/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)

diff --git a/scripts/ai/controllers/LevelerController.lua b/scripts/ai/controllers/LevelerController.lua
@@ -112,13 +112,13 @@ function LevelerController:setCylinderedLevelerRotation(dt, offsetDeg)
 	local _, dy, _ = localToWorld(self.levelerTool.node, 0, 0, 0)
 	local dx, _, dz = localToWorld(self.levelerNode, 0, 0, 0)
 	local _, ny, _ = worldToLocal(self.levelerTool.node, dx, dy, dz)
-	self:debug("dist: %.2f, ny: %.2f", dist, ny)
+--	self:debug("dist: %.2f, ny: %.2f", dist, ny)
 	local targetRot = math.asin(ny/dist) + math.rad(offsetDeg)
 	if ny > 0 then 
 		targetRot = -math.asin(-ny/dist) + math.rad(offsetDeg)
 	end
-	self:debug("curRot: %.2f, targetRot: %.2f, offset: %.2f, rotMin: %.2f, rotMax: %.2f", 
-				angle, targetRot, math.rad(offsetDeg), self.levelerTool.rotMin, self.levelerTool.rotMax)
+--	self:debug("curRot: %.2f, targetRot: %.2f, offset: %.2f, rotMin: %.2f, rotMax: %.2f", 
+--				angle, targetRot, math.rad(offsetDeg), self.levelerTool.rotMin, self.levelerTool.rotMax)
 
 	return ImplementUtil.moveMovingToolToRotation(self.levelerToolVehicle, self.levelerTool, dt,
 										 MathUtil.clamp(angle - targetRot, self.levelerTool.rotMin, self.levelerTool.rotMax))