Merge pull request #1297 from Courseplay/vine-turn

Vine turn

scripts/ai/AIDriveStrategyVineFieldWorkCourse.lua

@@ -28,7 +28,6 @@ function AIDriveStrategyVineFieldWorkCourse.new(customMt)
         customMt = AIDriveStrategyVineFieldWorkCourse_mt
     end
     local self = AIDriveStrategyFieldWorkCourse.new(customMt)
-
     return self
 end
 
@@ -47,4 +46,19 @@ end
 
 function AIDriveStrategyVineFieldWorkCourse:getImplementLowerEarly()
     return true
-end
+end
+
+function AIDriveStrategyVineFieldWorkCourse:startTurn(ix)
+
+    local _, frontMarkerDistance = AIUtil.getFirstAttachedImplement(self.vehicle)
+    local _, backMarkerDistance = AIUtil.getLastAttachedImplement(self.vehicle)
+
+    self:debug('Starting a turn at waypoint %d, front marker %.1f, back marker %.1f', ix, frontMarkerDistance, backMarkerDistance)
+    self.ppc:setShortLookaheadDistance()
+
+
+    self.turnContext = TurnContext(self.course, ix, ix + 1, self.turnNodes, self:getWorkWidth(),
+            frontMarkerDistance, -backMarkerDistance, 0, 0)
+    self.aiTurn = VineTurn(self.vehicle, self, self.ppc, self.turnContext, self.course, self.workWidth)
+    self.state = self.states.TURNING
+end

scripts/ai/turns/AITurn.lua

@@ -980,4 +980,20 @@ end
 
 function StartRowOnly:updateTurnProgress()
 	-- do nothing since this isn't really a turn
-end
+end
+
+--- A turn for working between vine rows.
+---@class VineTurn : CourseTurn
+VineTurn = CpObject(CourseTurn)
+function VineTurn:init(vehicle, driveStrategy, ppc, turnContext, fieldWorkCourse, workWidth)
+	CourseTurn.init(self, vehicle, driveStrategy, ppc, turnContext, fieldWorkCourse, workWidth, 'VineTurn')
+end
+
+function VineTurn:startTurn()
+	local turnManeuver = VineTurnManeuver(self.vehicle, self.turnContext, self.vehicle:getAIDirectionNode(),
+			self.turningRadius, self.workWidth)
+	self.turnCourse = turnManeuver:getCourse()
+	self.ppc:setCourse(self.turnCourse)
+	self.ppc:initialize(1)
+	self.state = self.states.TURNING
+end

scripts/ai/turns/TurnManeuver.lua

@@ -489,4 +489,28 @@ function AlignmentCourse:init(vehicle, vehicleDirectionNode, turningRadius, cour
 	end
 	self:debug('Alignment course with %d waypoints created.', #alignmentWaypoints)
 	self.course = Course.createFromAnalyticPath(self.vehicle, alignmentWaypoints, true)
+end
+
+---@class VineTurnManeuver : TurnManeuver
+VineTurnManeuver = CpObject(TurnManeuver)
+function VineTurnManeuver:init(vehicle, turnContext, vehicleDirectionNode, turningRadius, workWidth)
+	TurnManeuver.init(self, vehicle, turnContext, vehicleDirectionNode, turningRadius, workWidth, 0)
+
+	self:debug('Start generating')
+
+	local turnEndNode, startOffset, goalOffset = self.turnContext:getTurnEndNodeAndOffsets(0)
+	local _, _, dz = turnContext:getLocalPositionOfTurnEnd(vehicle:getAIDirectionNode())
+	if dz > 0 then
+		startOffset = startOffset + dz
+	else
+		goalOffset = goalOffset + dz
+	end
+	self:debug('r=%.1f, w=%.1f, dz=%.1f, startOffset=%.1f, goalOffset=%.1f',
+			turningRadius, workWidth, dz, startOffset, goalOffset)
+	local path = PathfinderUtil.findAnalyticPath(PathfinderUtil.dubinsSolver,
+			-- always move the goal a bit backwards to let the vehicle align
+			vehicleDirectionNode, startOffset, turnEndNode, 0, goalOffset - turnContext.frontMarkerDistance, self.turningRadius)
+	self.course = Course.createFromAnalyticPath(self.vehicle, path, true)
+	local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.course, 0, false)
+	TurnManeuver.setLowerImplements(self.course, endingTurnLength, true)
 end

scripts/reloadAI.bat

@@ -7,5 +7,6 @@ type ai\AIDriveStrategyFieldWorkCourse.lua >> %outfile%
 type ai\AIDriveStrategyCombineCourse.lua >> %outfile%
 type ai\AIDriveStrategyPlowCourse.lua >> %outfile%
 type ai\AIDriveStrategyDriveToFieldWorkStart.lua >> %outfile%
+type ai\AIDriveStrategyVineFieldWorkCourse.lua >> %outfile%
 echo ]]^> >> %outfile%
 echo ^</code^> >> %outfile%