6.01.00388 Big multitool + globalCompany fix

Add triggersuport for all scripts of globalCompany #4991

Multitool/offset refactored.

When using multitools, the entire offset course is calculated
when starting the vehicle using the left/right lane offset
setting. This setting can't be changed while CP is driving.

This should fix all issues with multitools, especially headland
turns on the inner courses. #4202 and lot more...

AIDriver.lua

@@ -22,7 +22,7 @@ This is the base class of all AI drivers (modes) and implements MODE_TRANSPORT (
 using the PurePursuitController (PPC). It replaces the code in drive.lua and has the
 basic functionality:
 •	Drive a course
-•	Drive turn maneuvers (by passing on control to the code in turn.lua for the duration of the turn)
+•	Drive turn maneuvers
 •	Add an alignment when needed before starting the course (this is a lot easier now as
 it just initializes the PPC with the alignment course and after that is finished, initializes
 it with the regular course)
@@ -200,15 +200,16 @@ function AIDriver:beforeStart()
 end
 
 --- Start driving
--- @param ix the waypoint index to start driving at
-function AIDriver:start(ix)
+--- @param startingPoint number, one of StartingPointSetting.START_AT_* constants
+function AIDriver:start(startingPoint)
 	self:beforeStart()
 	self.state = self.states.RUNNING
 	-- derived classes must disable collision detection if they don't need its
 	self:enableCollisionDetection()
 	-- for now, initialize the course with the vehicle's current course
 	-- main course is the one generated/loaded/recorded
 	self.mainCourse = Course(self.vehicle, self.vehicle.Waypoints)
+	local ix = self.mainCourse:getStartingWaypointIx(AIDriverUtil.getDirectionNode(self.vehicle), startingPoint)
 	self:debug('AI driver in mode %d starting at %d/%d waypoints', self:getMode(), ix, self.mainCourse:getNumberOfWaypoints())
 	self:startCourseWithAlignment(self.mainCourse, ix)
 end
@@ -224,7 +225,7 @@ function AIDriver:dismiss()
 end
 
 --- Stop the driver
--- @param reason as defined in globalInfoText.msgReference
+--- @param msgReference string as defined in globalInfoText.msgReference
 function AIDriver:stop(msgReference)
 	self:deleteCollisionDetector()
 	-- not much to do here, see the derived classes
@@ -260,13 +261,15 @@ function AIDriver:resumeAt(ix)
 	self.ppc:initialize(ix)
 end
 
+--- @param msgReference string as defined in globalInfoText.msgReference
 function AIDriver:setInfoText(msgReference)
 	if msgReference then
 		self:debugSparse('set info text to %s', msgReference)
 		self.activeMsgReferences[msgReference] = true
 	end
 end
 
+--- @param msgReference string as defined in globalInfoText.msgReference
 function AIDriver:clearInfoText(msgReference)
 	if msgReference then
 		self.activeMsgReferences[msgReference] = nil
@@ -889,9 +892,8 @@ function AIDriver:dischargeAtUnloadPoint(dt,unloadPointIx)
 			if tipper.spec_dischargeable then	
 				readyToDischarge = false
 				tipRefpoint = tipper:getCurrentDischargeNode().node or tipper.rootNode
-				nx,ny,nz = getWorldTranslation(tipRefpoint);
 				local isTipping = tipper.spec_dischargeable.currentRaycastDischargeNode.isEffectActive
-				_,_,z = worldToLocal(tipRefpoint, uX,uY,uZ);
+				local _,_,z = worldToLocal(tipRefpoint, uX,uY,uZ);
 				z = courseplay:isNodeTurnedWrongWay(vehicle,tipRefpoint)and -z or z
 
 				local foundHeap = self:checkForHeapBehindMe(tipper)

AITurn.lua

@@ -439,7 +439,7 @@ end
 function CourseTurn:startTurn()
 	-- pathfinder and Dubins won't handle multi tools correctly until the big multi tool fix is in place, so until then
 	-- just don't use it
-	if self.vehicle.cp.multiTools < 2 and self.turnContext:isWideTurn(self.turningRadius * 2) then
+	if self.turnContext:isWideTurn(self.turningRadius * 2) then
 		self:generatePathfinderTurn()
 	else
 		self:generateCalculatedTurn()

CombineUnloadAIDriver.lua

@@ -40,8 +40,8 @@ function CombineUnloadAIDriver:init(vehicle)
 	self.onTurnAwayCourse = false
 end
 
-function CombineUnloadAIDriver:start(ix)
-	AIDriver.start(self, ix)
+function CombineUnloadAIDriver:start(startingPoint)
+	AIDriver.start(self, startingPoint)
 end
 
 function CombineUnloadAIDriver:isAlignmentCourseNeeded(ix)

FieldSupplyAIDriver.lua

@@ -42,7 +42,7 @@ function FieldSupplyAIDriver:setHudContent()
 	courseplay.hud:setFieldSupplyAIDriverContent(self.vehicle)
 end
 
-function FieldSupplyAIDriver:start(ix)
+function FieldSupplyAIDriver:start()
 	self:beforeStart()
 	self.course = Course(self.vehicle , self.vehicle.Waypoints)
 	self.ppc:setCourse(self.course)

FieldworkAIDriver.lua

@@ -140,7 +140,8 @@ function FieldworkAIDriver.getImplementWithSpecialization(vehicle, specializatio
 end
 
 --- Start the course and turn on all implements when needed
-function FieldworkAIDriver:start(ix)
+--- @param startingPoint StartingPointSetting at which waypoint to start the course
+function FieldworkAIDriver:start(startingPoint)
 	self:debug('Starting in mode %d', self.mode)
 	self.ppc:registerListeners(self, 'onWaypointPassed', 'onWaypointChange')
 	self:setMarkers()
@@ -152,25 +153,61 @@ function FieldworkAIDriver:start(ix)
 	self.vehicle.cp.alignment.enabled = true
 	-- stop at the last waypoint by default
 	self.vehicle.cp.stopAtEnd = true
-	-- any offset imposed by the driver itself (tight turns, end of course, etc.), addtional to any
+	-- any offset imposed by the driver itself (tight turns, end of course, etc.), additional to any
 	-- tool offsets
 	self.aiDriverOffsetX = 0
 	self.aiDriverOffsetZ = 0
 
 	self:setUpCourses()
-	self.ppc:setNormalLookaheadDistance()
+
+	-- now that we have our unload/refill and fieldwork courses set up, see where to start
+	local closestFieldworkIx, dClosestFieldwork, closestFieldworkIxRightDirection, dClosestFieldworkRightDirection =
+		self.fieldworkCourse:getNearestWaypoints(AIDriverUtil.getDirectionNode(self.vehicle))
+
+	-- default to math.huge in case there isn't an unload refill course to make sure it only the fieldwork Ix is used
+	local closestUnloadRefillIx, dClosestUnloadRefill, closestUnloadRefillIxRightDirection, dClosestUnloadRefillRightDirection =
+		0, math.huge, 0, math.huge
+
+	if self.unloadRefillCourse then
+		closestUnloadRefillIx, dClosestUnloadRefill, closestUnloadRefillIxRightDirection, dClosestUnloadRefillRightDirection =
+			self.unloadRefillCourse:getNearestWaypoints(AIDriverUtil.getDirectionNode(self.vehicle))
+	end
+
+	local ix = self.course and self.course:getCurrentWaypointIx()
+	local startWithFieldwork
+
+	if startingPoint:is(StartingPointSetting.START_AT_NEAREST_POINT) then
+		if dClosestFieldwork < dClosestUnloadRefill then
+			ix = closestFieldworkIx
+			startWithFieldwork = true
+		else
+			ix = closestUnloadRefillIx
+			startWithFieldwork = false
+		end
+	end
+	-- TODO: decide if we even need current point in this mode, does not seem to make any sense
+	if startingPoint:is(StartingPointSetting.START_AT_NEXT_POINT) or startingPoint:is(StartingPointSetting.START_AT_CURRENT_POINT) then
+		if dClosestFieldworkRightDirection < dClosestUnloadRefillRightDirection then
+			ix = closestFieldworkIxRightDirection
+			startWithFieldwork = true
+		else
+			ix = closestUnloadRefillIxRightDirection
+			startWithFieldwork = false
+		end
+	end
+	if startingPoint:is(StartingPointSetting.START_AT_FIRST_POINT) then
+		ix = 1
+		startWithFieldwork = true
+	end
 
 	self.waitingForTools = true
-	-- on which course are we starting?
-	-- the ix we receive here is the waypoint index in the fieldwork course and the unload/fill
-	-- course concatenated.
-	if ix > self.fieldworkCourse:getNumberOfWaypoints() then
-		-- beyond the first, fieldwork course: we are on the unload/refill part
-		self:changeToUnloadOrRefill()
-		self:startCourseWithAlignment(self.unloadRefillCourse, ix - self.fieldworkCourse:getNumberOfWaypoints())
-	else
-		-- we are on the fieldwork part
+	self.ppc:setNormalLookaheadDistance()
+
+	if startWithFieldwork then
 		self:startFieldworkWithPathfinding(ix)
+	else
+		self:changeToUnloadOrRefill()
+		self:startCourseWithAlignment(self.unloadRefillCourse, ix)
 	end
 end
 
@@ -653,14 +690,23 @@ function FieldworkAIDriver:setUpCourses()
 		self:debug('Course with %d waypoints set up, there seems to be no unload/refill course', #self.vehicle.Waypoints)
 		self.fieldworkCourse = Course(self.vehicle, self.vehicle.Waypoints, false, 1, #self.vehicle.Waypoints)
 	end
-	-- apply the current offset to the fieldwork part (lane+tool, where, confusingly, totalOffsetX contains the toolOffsetX)
-	self.fieldworkCourse:setOffset(self.vehicle.cp.totalOffsetX, self.vehicle.cp.toolOffsetZ)
+	-- get a signature of the course now, before offsetting it so can compare for the convoy
+	self.fieldworkCourseHash = self.fieldworkCourse:getHash()
+	-- apply the current tool offset to the fieldwork part (multitool offset is added by calculateOffsetCourse when needed)
+	self.fieldworkCourse:setOffset(self.vehicle.cp.toolOffsetX, self.vehicle.cp.toolOffsetZ)
 	-- TODO: consolidate the working width calculation and usage, this is currently an ugly mess
 	self.fieldworkCourse:setWorkWidth(self.vehicle.cp.courseWorkWidth or courseplay:getWorkWidth(self.vehicle))
+	if self.vehicle.cp.multiTools > 1 then
+		self:debug('Calculating offset course for position %d of %d', self.vehicle.cp.laneNumber, self.vehicle.cp.multiTools)
+		self.fieldworkCourse = self.fieldworkCourse:calculateOffsetCourse(
+				self.vehicle.cp.multiTools, self.vehicle.cp.laneNumber,  courseplay:getWorkWidth(self.vehicle),
+				self.vehicle.cp.settings.symmetricLaneChange:is(true))
+	end
 end
 
 function FieldworkAIDriver:setRidgeMarkers()
-	if not self.vehicle.cp.ridgeMarkersAutomatic then return end
+	-- no ridge markers with multitools to avoid collisions.
+	if not self.vehicle.cp.ridgeMarkersAutomatic or self.vehicle.cp.multiTools > 1 then return end
 	local active = self.state == self.states.ON_FIELDWORK_COURSE and self.fieldworkState ~= self.states.TURNING
 	for _, workTool in ipairs(self.vehicle.cp.workTools) do
 		-- yes, another Giants typo. And not sure why implements with no ridge markers even have the spec_ridgeMarker
@@ -679,13 +725,13 @@ end
 function FieldworkAIDriver:updateFieldworkOffset()
 	-- (as lua passes tables by reference, we can directly change self.fieldworkCourse even if we passed self.course
 	-- to the PPC to drive)
-	self.fieldworkCourse:setOffset(self.vehicle.cp.totalOffsetX + self.aiDriverOffsetX + (self.tightTurnOffset or 0),
+	self.fieldworkCourse:setOffset(self.vehicle.cp.toolOffsetX + self.aiDriverOffsetX + (self.tightTurnOffset or 0),
 		self.vehicle.cp.toolOffsetZ + self.aiDriverOffsetZ)
 end
 
 function FieldworkAIDriver:hasSameCourse(otherVehicle)
-	if otherVehicle.cp.driver and otherVehicle.cp.driver.fieldworkCourse then
-		return self.fieldworkCourse:equals(otherVehicle.cp.driver.fieldworkCourse)
+	if otherVehicle.cp.driver and otherVehicle.cp.driver.fieldworkCourseHash then
+		return self.fieldworkCourseHash == otherVehicle.cp.driver.fieldworkCourseHash
 	else
 		return false
 	end
@@ -1198,7 +1244,6 @@ function FieldworkAIDriver:onDraw()
 		DebugUtil.drawDebugNode(self.plowReferenceNode, 'Plow reference')
 	end
 
-
 	AIDriver.onDraw(self)
 end
 

GrainTransportAIDriver.lua

@@ -33,10 +33,10 @@ function GrainTransportAIDriver:setHudContent()
 	courseplay.hud:setGrainTransportAIDriverContent(self.vehicle)
 end
 
-function GrainTransportAIDriver:start(ix)
+function GrainTransportAIDriver:start(startingPoint)
 	self.vehicle:setCruiseControlMaxSpeed(self.vehicle:getSpeedLimit() or math.huge)
 	self:beforeStart()
-	AIDriver.start(self, ix)
+	AIDriver.start(self, startingPoint)
 	self:setDriveUnloadNow(false);
 end
 

LevelCompactAIDriver.lua

@@ -64,7 +64,7 @@ function LevelCompactAIDriver:setHudContent()
 	courseplay.hud:setLevelCompactAIDriverContent(self.vehicle)
 end
 
-function LevelCompactAIDriver:start(ix)
+function LevelCompactAIDriver:start()
 	self:beforeStart()
 
 	self.course = Course(self.vehicle , self.vehicle.Waypoints)

PlowAIDriver.lua

@@ -131,7 +131,7 @@ function PlowAIDriver:setOffsetX()
 		local newToolOffsetX = -(leftMarkerDistance + rightMarkerDistance) / 2
 		-- set to the average of old and new to smooth a little bit to avoid oscillations
 		self.vehicle.cp.toolOffsetX = (self.vehicle.cp.toolOffsetX + newToolOffsetX) / 2
-		self.vehicle.cp.totalOffsetX = self.vehicle.cp.laneOffset + self.vehicle.cp.toolOffsetX
+		self.vehicle.cp.totalOffsetX = self.vehicle.cp.toolOffsetX
 		self:debug('%s: left = %.1f, right = %.1f, leftDx = %.1f, rightDx = %.1f, setting tool offsetX to %.2f (total offset %.2f)',
 			nameNum(self.plow), leftMarkerDistance, rightMarkerDistance, leftDx, rightDx, self.vehicle.cp.toolOffsetX, self.vehicle.cp.totalOffsetX)
 	end

ShovelModeAIDriver.lua

@@ -72,7 +72,7 @@ function ShovelModeAIDriver:setHudContent()
 	courseplay.hud:setShovelModeAIDriverContent(self.vehicle)
 end
 
-function ShovelModeAIDriver:start(ix)
+function ShovelModeAIDriver:start()
 	self:beforeStart()
 	--finding my working points
 	local vehicle = self.vehicle