Add 'reverseOnStuck' setting: recover instead of waiting forever when blocked by an obstacle

gui/globalSettingsPage.xml

@@ -51,6 +51,18 @@
 				</BinaryOption>
 				<Text profile="fs25_settingsMultiTextOptionTitle" text="$l10n_gui_ad_enableTrafficDetection"/>
 			</Bitmap>
+			<Bitmap profile="fs25_multiTextOptionContainer" onCreate="onCreateAutoDriveSettingRow">
+				<MultiTextOption profile="fs25_settingsMultiTextOption" onClick="onOptionChange" onCreate="onCreateAutoDriveSetting" name="reverseOnStuck" id="reverseOnStuck">
+					<Text profile="fs25_multiTextOptionTooltip" name="ignore" text="$l10n_gui_ad_reverseOnStuck_tooltip"/>
+				</MultiTextOption>
+				<Text profile="fs25_settingsMultiTextOptionTitle" text="$l10n_gui_ad_reverseOnStuck"/>
+			</Bitmap>
+			<Bitmap profile="fs25_multiTextOptionContainer" onCreate="onCreateAutoDriveSettingRow">
+				<MultiTextOption profile="fs25_settingsMultiTextOption" onClick="onOptionChange" onCreate="onCreateAutoDriveSetting" name="stuckHandoverDistance" id="stuckHandoverDistance">
+					<Text profile="fs25_multiTextOptionTooltip" name="ignore" text="$l10n_gui_ad_stuckHandoverDistance_tooltip"/>
+				</MultiTextOption>
+				<Text profile="fs25_settingsMultiTextOptionTitle" text="$l10n_gui_ad_stuckHandoverDistance"/>
+			</Bitmap>
 			<Bitmap profile="fs25_multiTextOptionContainer" onCreate="onCreateAutoDriveSettingRow">
 				<BinaryOption profile="fs25_settingsBinaryOption" onClick="onOptionChange" onCreate="onCreateAutoDriveSetting" name="useFolders" id="useFolders">
 					<Text profile="fs25_multiTextOptionTooltip" name="ignore" text="$l10n_gui_ad_useFolders_tooltip"/>

scripts/Modules/CollisionDetectionModule.lua

@@ -6,6 +6,7 @@ function ADCollisionDetectionModule:new(vehicle)
     self.__index = self
     o.vehicle = vehicle
     o.detectedObstable = false
+    o.detectedPhysicalObstacle = false
     o.reverseSectionClear = AutoDriveTON:new()
     o.reverseSectionClear.elapsedTime = 20000
     o.detectedCollision = false
@@ -32,6 +33,10 @@ function ADCollisionDetectionModule:hasDetectedObstable(dt)
         )
     end
 
+    -- physically sensed obstacle (sensor box / vehicle collision), as opposed to
+    -- AD-internal right-of-way waiting - only the former justifies a stuck-recovery maneuver
+    self.detectedPhysicalObstacle = detectObstacle
+
     self.detectedObstable = detectObstacle or detectAdTrafficOnRoute or not self.reverseSectionClear:done()
     return self.detectedObstable
 end

scripts/Settings.lua

@@ -606,6 +606,28 @@ AutoDrive.settings.enableTrafficDetection = {
     isVehicleSpecific = false
 }
 
+AutoDrive.settings.reverseOnStuck = {
+    values = {0, 5, 10, 15, 20, 30},
+    texts = {"-", "5s", "10s", "15s", "20s", "30s"},
+    default = 3,
+    current = 3,
+    text = "gui_ad_reverseOnStuck",
+    tooltip = "gui_ad_reverseOnStuck_tooltip",
+    translate = false,
+    isVehicleSpecific = false
+}
+
+AutoDrive.settings.stuckHandoverDistance = {
+    values = {10, 15, 20, 25, 30, 40, 50},
+    texts = {"10m", "15m", "20m", "25m", "30m", "40m", "50m"},
+    default = 5,
+    current = 5,
+    text = "gui_ad_stuckHandoverDistance",
+    tooltip = "gui_ad_stuckHandoverDistance_tooltip",
+    translate = false,
+    isVehicleSpecific = false
+}
+
 AutoDrive.settings.shovelWidth = {
     values = {0, 0.2, 0.4, 0.6, 0.8, 1, 1.2, 1.4, 1.6, 1.8, 2.0, 2.2, 2.4, 2.6, 2.8, 3.0, 3.2, 3.4, 3.6, 3.8, 4.0},
     texts = {"0m", "0.2m", "0.4m", "0.6m", "0.8m", "1.0m", "1.2m", "1.4m", "1.6m", "1.8m", "2.0m", "2.2m", "2.4m", "2.6m", "2.8m", "3.0m", "3.2m", "3.4m", "3.6m", "3.8m", "4.0m"},

scripts/Specialization.lua

@@ -1413,7 +1413,16 @@ function AutoDrive.passToExternalMod_CP(vehicle)
     -- TODO: check if this dirty hack works in future!
     local isControlled = vehicle:getIsControlled()
 
-    if not vehicle.ad.isStoppingWithError and distanceToStart < 30 then
+    -- allow the handover a bit further away from the marker when the user raised the
+    -- stuck handover distance - the vehicle may have been stopped short of the target
+    -- by another vehicle parked on it
+    local maxDistance = 30
+    local handoverDistance = AutoDrive.getSetting("stuckHandoverDistance")
+    if handoverDistance ~= nil and handoverDistance > maxDistance then
+        maxDistance = handoverDistance
+    end
+
+    if not vehicle.ad.isStoppingWithError and distanceToStart < maxDistance then
         AutoDrive.debugPrint(vehicle, AutoDrive.DC_EXTERNALINTERFACEINFO, "AutoDrive.passToExternalMod_CP")
         -- CP button enabled
         if (vehicle.cpStartStopDriver ~= nil and vehicle.ad.stateModule:getUsedHelper() == ADStateModule.HELPER_CP) then
@@ -1422,15 +1431,17 @@ function AutoDrive.passToExternalMod_CP(vehicle)
             if vehicle.ad.restartCP == true then
                 -- restart CP to continue
                 vehicle.ad.restartCP = false
-                AutoDrive.debugPrint(vehicle, AutoDrive.DC_EXTERNALINTERFACEINFO, "AutoDrive.passToExternalMod_CP pass control to CP with restart")
+                Logging.info("[AutoDrive stuck-recovery] '%s': passing control to CP (restart), distanceToStart=%.1f", tostring(vehicle.ad.stateModule:getName()), distanceToStart)
                 AutoDrive:RestartCP(vehicle)
             else
                 -- start CP from beginning
-                AutoDrive.debugPrint(vehicle, AutoDrive.DC_EXTERNALINTERFACEINFO, "AutoDrive.passToExternalMod_CP pass control to CP with start")
+                Logging.info("[AutoDrive stuck-recovery] '%s': passing control to CP (start), distanceToStart=%.1f", tostring(vehicle.ad.stateModule:getName()), distanceToStart)
                 AutoDrive:StartCP(vehicle)
             end
             vehicle.spec_enterable.isControlled = isControlled
         end
+    elseif not vehicle.ad.isStoppingWithError then
+        Logging.info("[AutoDrive stuck-recovery] '%s': NOT passing control to CP, distanceToStart=%.1f > max=%d", tostring(vehicle.ad.stateModule:getName()), distanceToStart, maxDistance)
     end
 end
 

scripts/Tasks/ReverseFromBadLocationTask.lua

@@ -2,9 +2,10 @@ ReverseFromBadLocationTask = ADInheritsFrom(AbstractTask)
 
 ReverseFromBadLocationTask.STATE_REVERSING = 1
 
-function ReverseFromBadLocationTask:new(vehicle)
+function ReverseFromBadLocationTask:new(vehicle, dontPropagate)
     local o = ReverseFromBadLocationTask:create()
     o.vehicle = vehicle
+    o.dontPropagate = dontPropagate
     o.trailers = nil
     return o
 end
@@ -72,7 +73,12 @@ function ReverseFromBadLocationTask:abort()
 end
 
 function ReverseFromBadLocationTask:finished()
-    self.vehicle.ad.taskModule:setCurrentTaskFinished()
+    if self.dontPropagate then
+        -- used by the generic stuck recovery: the mode must not treat this as a finished mode task
+        self.vehicle.ad.taskModule:setCurrentTaskFinished(ADTaskModule.DONT_PROPAGATE)
+    else
+        self.vehicle.ad.taskModule:setCurrentTaskFinished()
+    end
 end
 
 function ReverseFromBadLocationTask:getInfoText()

translations/translation_br.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="Acima do trator" />
 		<text name="gui_ad_enableTrafficDetection"						text="Detecção de colisão" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="Detecção de colisão FS 22 ou FS 19 desativado" />
+		<text name="gui_ad_reverseOnStuck"								text="Dar ré quando bloqueado" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="Se o motorista ficar bloqueado por um obstáculo durante o tempo selecionado, ele dá ré e tenta continuar. Após 3 tentativas falhas no mesmo local, ele para com uma mensagem de erro. '-' desativa esta função." />
+		<text name="gui_ad_stuckHandoverDistance"						text="Tolerância de chegada quando bloqueado" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="Se o motorista ficar preso mais perto do fim da rota do que este valor, o destino conta como alcançado (no modo 'Dirigir para' ou com entrega a CP/AIVE/IA) - p. ex. quando outro veículo está estacionado no ponto de destino." />
 		<text name="gui_ad_shovelWidth"								text="Largura da pá-carregadeira (Adição)" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="Se a largura da pá-carregadeirae detectada automaticamente for muito pequena, ela pode ser aumentada com esse valor" />
 		<text name="gui_ad_preCallLevel"								text="Chamar o motorista" />

translations/translation_cs.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="拖拉机上方" />
 		<text name="gui_ad_enableTrafficDetection"						text="碰撞检测" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="高级碰撞检测，还可以检测 AI 交通、标志、围栏等。 Off, detect FS 22 or FS 19 collision" />
+		<text name="gui_ad_reverseOnStuck"								text="被阻挡时倒车" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="如果驾驶员被障碍物阻挡超过所选时间，他会倒车并尝试继续行驶。在同一位置尝试3次失败后，将停车并显示错误信息。'-'表示禁用此功能。" />
+		<text name="gui_ad_stuckHandoverDistance"						text="卡住时的到达容差" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="如果驾驶员卡在离路线终点比该值更近的地方，则目标视为已到达（'驾驶到'模式或移交给CP/AIVE/AI时）——例如目标点上停着另一辆车。" />
 		<text name="gui_ad_shovelWidth"								text="工具宽度（加法）" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="如果自动检测到的工具宽度太小，可以增加这个值" />
 		<text name="gui_ad_preCallLevel"								text="预呼叫级别" />

translations/translation_ct.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="拖拉機上方" />
 		<text name="gui_ad_enableTrafficDetection"						text="碰撞檢測" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="高級碰撞檢測，還可以檢測 AI 交通、標志、圍欄等。 Off, detect FS 22 or FS 19 collision" />
+		<text name="gui_ad_reverseOnStuck"								text="被阻擋時倒車" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="如果駕駛員被障礙物阻擋超過所選時間，他會倒車並嘗試繼續行駛。在同一位置嘗試3次失敗後，將停車並顯示錯誤訊息。'-'表示停用此功能。" />
+		<text name="gui_ad_stuckHandoverDistance"						text="卡住時的到達容差" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="如果駕駛員卡在離路線終點比該值更近的地方，則目標視為已到達（'駕駛到'模式或移交給CP/AIVE/AI時）——例如目標點上停著另一輛車。" />
 		<text name="gui_ad_shovelWidth"								text="工具寬度（加法）" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="如果自動檢測到的工具寬度太小，可以增加這個值" />
 		<text name="gui_ad_preCallLevel"								text="預呼叫級別" />

translations/translation_cz.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="Nad vozidlem" />
 		<text name="gui_ad_enableTrafficDetection"						text="Detekovat kolize" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="Pokročilá detekce překážek. Zahrnuje např. AI-provoz, značky, ploty,  atd. Off, detect FS 22 or FS 19 collision" />
+		<text name="gui_ad_reverseOnStuck"								text="Couvání při zablokování" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="Pokud je řidič blokován překážkou po zvolenou dobu, zacouvá a pokusí se pokračovat. Po 3 neúspěšných pokusech na stejném místě zastaví s chybovým hlášením. '-' funkci vypne." />
+		<text name="gui_ad_stuckHandoverDistance"						text="Tolerance příjezdu při zablokování" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="Pokud řidič uvízne blíže ke konci trasy, než je tato hodnota, cíl se počítá jako dosažený (v režimu 'Jet do' nebo při předání CP/AIVE/AI) - např. když na cílovém bodě parkuje jiné vozidlo." />
 		<text name="gui_ad_shovelWidth"								text="Šířka lžíce" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="Pokud není šířka lžíce správně detekována, bude použita tato hodnota" />
 		<text name="gui_ad_preCallLevel"								text="Zavolat odvozce při naplnění" />

translations/translation_da.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="Over køretøj" />
 		<text name="gui_ad_enableTrafficDetection"						text="Kollistion detektering" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="Advanceret kollition detektering, Finder AI-trafik, skilte, hegn osv." />
+		<text name="gui_ad_reverseOnStuck"								text="Bak ved blokering" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="Hvis føreren er blokeret af en forhindring i den valgte tid, bakker han og forsøger at fortsætte. Efter 3 mislykkede forsøg samme sted stopper han med en fejlmeddelelse. '-' deaktiverer funktionen." />
+		<text name="gui_ad_stuckHandoverDistance"						text="Ankomsttolerance ved blokering" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="Hvis føreren sidder fast tættere på rutens afslutning end denne værdi, tæller målet som nået (i 'Kør til'-tilstand eller med overdragelse til CP/AIVE/AI) - f.eks. når et andet køretøj holder på målpunktet." />
 		<text name="gui_ad_shovelWidth"								text="Skovel brede (Tillæg)" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="Hvis automatisk detekteret og skovl breden er for lille, kan den øges med denne værdi" />
 		<text name="gui_ad_preCallLevel"								text="Tilkald påfyldningsniveau" />

translations/translation_de.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="Über dem Fahrzeug" />
 		<text name="gui_ad_enableTrafficDetection"						text="Kollisionserkennung" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="Erweiterte Kollisionserkennung, die auch auf KI-Verkehr, Schilder, Zäune etc. reagiert." />
+		<text name="gui_ad_reverseOnStuck"								text="Bei Blockade zurücksetzen" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="Steht der Fahrer länger als die eingestellte Zeit vor einem Hindernis oder hängt fest, setzt er zurück und versucht weiterzufahren. Nach 3 erfolglosen Versuchen an derselben Stelle hält er mit Fehlermeldung an. '-' deaktiviert die Funktion." />
+		<text name="gui_ad_stuckHandoverDistance"						text="Ankunftstoleranz bei Blockade" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="Steckt der Fahrer näher als dieser Wert am Routenende fest, gilt das Ziel als erreicht (im Modus 'Fahre zu Ziel' oder bei Helfer-Übergabe CP/AIVE/KI) - z. B. wenn ein anderes Fahrzeug auf dem Zielpunkt parkt." />
 		<text name="gui_ad_shovelWidth"								text="Schaufelbreite (Zusatz)" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="Falls die automatisch erkannte Breite zu klein ist, kann sie hiermit erhöht werden." />
 		<text name="gui_ad_preCallLevel"								text="Früher rufen ab" />

translations/translation_ea.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="Por encima del tractor" />
 		<text name="gui_ad_enableTrafficDetection"						text="Detectar obstáculos" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="Detección avanzada de obstáculos, que incluye detección de tráfico IA, señales, vallas, etc. Desactivado, detectar colisión de FS19 o FS22." />
+		<text name="gui_ad_reverseOnStuck"								text="Retroceder al quedar bloqueado" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="Si el conductor queda bloqueado por un obstáculo durante el tiempo seleccionado, retrocede e intenta continuar. Tras 3 intentos fallidos en el mismo lugar, se detiene con un mensaje de error. '-' desactiva esta función." />
+		<text name="gui_ad_stuckHandoverDistance"						text="Tolerancia de llegada al quedar bloqueado" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="Si el conductor queda bloqueado más cerca del final de la ruta que este valor, el destino cuenta como alcanzado (en modo 'Conducir a' o con transferencia a CP/AIVE/IA), p. ej. si otro vehículo está estacionado en el punto de destino." />
 		<text name="gui_ad_shovelWidth"								text="Ancho de pala (incrementar)" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="Si el ancho de la pala detectado automáticamente es demasiado pequeño, se puede aumentar con este valor" />
 		<text name="gui_ad_preCallLevel"								text="Nivel para llamar" />

translations/translation_en.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="Above tractor" />
 		<text name="gui_ad_enableTrafficDetection"						text="Collision detection" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="Advanced collision detection, which also detects AI-traffic, signs, fences etc. Off, detect FS 22 or FS 19 collision" />
+		<text name="gui_ad_reverseOnStuck"								text="Reverse when blocked" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="If the driver is blocked by an obstacle or stuck for the selected time, he reverses and tries to continue. After 3 failed attempts in the same spot he stops with an error message. '-' disables this." />
+		<text name="gui_ad_stuckHandoverDistance"						text="Arrival tolerance when stuck" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="If the driver gets stuck closer to the end of the route than this, the target counts as reached (in 'Drive to' mode or with a CP/AIVE/AI handover) - e.g. when another vehicle is parked on the target point." />
 		<text name="gui_ad_shovelWidth"								text="Shovel width (Addition)" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="If automatically detected shovel width is too small, it can be increased with this value" />
 		<text name="gui_ad_preCallLevel"								text="Pre call level" />

translations/translation_es.xml

@@ -165,6 +165,10 @@
 		<text name="gui_ad_aboveDriver"								text="Por encima del tractor" />
 		<text name="gui_ad_enableTrafficDetection"						text="Detectar obstáculos" />
 		<text name="gui_ad_enableTrafficDetection_tooltip"				text="Detección avanzada de obstáculos, que incluye detección de tráfico IA, señales, vallas, etc. Desactivado, detectar colisión de FS19 o FS22." />
+		<text name="gui_ad_reverseOnStuck"								text="Retroceder al quedar bloqueado" />
+		<text name="gui_ad_reverseOnStuck_tooltip"						text="Si el conductor queda bloqueado por un obstáculo durante el tiempo seleccionado, retrocede e intenta continuar. Tras 3 intentos fallidos en el mismo lugar, se detiene con un mensaje de error. '-' desactiva esta función." />
+		<text name="gui_ad_stuckHandoverDistance"						text="Tolerancia de llegada al quedar bloqueado" />
+		<text name="gui_ad_stuckHandoverDistance_tooltip"				text="Si el conductor queda bloqueado más cerca del final de la ruta que este valor, el destino cuenta como alcanzado (en modo 'Conducir a' o con transferencia a CP/AIVE/IA), p. ej. si otro vehículo está aparcado en el punto de destino." />
 		<text name="gui_ad_shovelWidth"								text="Ancho de pala (incrementar)" />
 		<text name="gui_ad_shovelWidth_tooltip"						text="Si el ancho de la pala detectado automáticamente es demasiado pequeño, se puede aumentar con este valor" />
 		<text name="gui_ad_preCallLevel"								text="Nivel para llamar" />