From 201c1afa9de93aea1dbbc6275b57be24a767d62e Mon Sep 17 00:00:00 2001
From: Peter Vaiko <peter.vaiko@siemens.com>
Date: Sun, 29 Dec 2024 02:32:06 -0500
Subject: [PATCH] fix: Don't drive with pipe in not allowed states

This is to prevent some harvesters driving off once discharging
finished with the bunker up, as that will result in leaving the
area unharvested.

Also fix fruit detection for choppers so unloaders are directed
to the correct side.

#176
---
 scripts/ai/controllers/PipeController.lua     | 23 ++++++++++++++++++
 .../AIDriveStrategyCombineCourse.lua          | 24 +++++++------------
 2 files changed, 32 insertions(+), 15 deletions(-)

diff --git a/scripts/ai/controllers/PipeController.lua b/scripts/ai/controllers/PipeController.lua
index 9f511fee0..12f1eec4d 100644
--- a/scripts/ai/controllers/PipeController.lua
+++ b/scripts/ai/controllers/PipeController.lua
@@ -62,6 +62,10 @@ function PipeController:getDriveData()
             self:debugSparse("Waiting for pipe unfolding!")
         end
     end
+    if not self:isInAllowedState() then
+        maxSpeed = 0
+        self:debugSparse("Pipe state prevents driving")
+    end
     return nil, nil, nil, maxSpeed
 end
 
@@ -671,6 +675,25 @@ function PipeController:movePipeUp(tool, childToolNode, dt)
     ImplementUtil.moveMovingToolToRotation(self.implement, tool, dt, CpMathUtil.clamp(targetRot, tool.rotMin, tool.rotMax))
 end
 
+---@return boolean true if the pipe is in a state which allows turning on the harvester. This is to prevent some
+--- harvesters like the OXBO MKB-4TR driving with the bunker up right after unloading, as with the bunker up they
+--- are not able to harvest
+function PipeController:isInAllowedState()
+    if self.pipeSpec.hasMovablePipe then
+        if next(self.pipeSpec.turnOnAllowedStates) ~= nil then
+            local isAllowed = false
+            for pipeState,_ in pairs(self.pipeSpec.turnOnAllowedStates) do
+                if pipeState == self.pipeSpec.currentState then
+                    isAllowed = true
+                    break
+                end
+            end
+            return isAllowed
+        end
+    end
+    return true
+end
+
 function PipeController:delete()
     CpUtil.destroyNode(self.tempBaseNode)
     CpUtil.destroyNode(self.tempDependedNode)
diff --git a/scripts/ai/strategies/AIDriveStrategyCombineCourse.lua b/scripts/ai/strategies/AIDriveStrategyCombineCourse.lua
index 725c39016..2691916ef 100644
--- a/scripts/ai/strategies/AIDriveStrategyCombineCourse.lua
+++ b/scripts/ai/strategies/AIDriveStrategyCombineCourse.lua
@@ -741,27 +741,21 @@ function AIDriveStrategyCombineCourse:getFruitAtSides()
     return self.fruitLeft, self.fruitRight
 end
 
+--- Check both sides of the combine/chopper to see if we are at the edge of the field and if there is fruit there.
+--- This is to direct the unloader to the side where there is no fruit.
 function AIDriveStrategyCombineCourse:checkFruit()
-    -- getValidityOfTurnDirections() wants to have the vehicle.aiDriveDirection, so get that here.
-    local dx, _, dz = localDirectionToWorld(self.vehicle:getAIDirectionNode(), 0, 0, 1)
-    local length = MathUtil.vector2Length(dx, dz)
-    dx = dx / length
-    dz = dz / length
-    self.vehicle.aiDriveDirection = { dx, dz }
-    -- getValidityOfTurnDirections works only if all AI Implements have aiMarkers. Since
-    -- we make all Cutters AI implements, even the ones which do not have AI markers (such as the
-    -- chopper pickups which do not work with the Giants helper) we have to make sure we don't call
-    -- getValidityOfTurnDirections for those
-    if self.notAllImplementsHaveAiMarkers then
-        self.fruitLeft, self.fruitRight = 0, 0
-    else
-        self.fruitLeft, self.fruitRight = AIVehicleUtil.getValidityOfTurnDirections(self.vehicle)
-    end
     local workWidth = self:getWorkWidth()
+
     local x, _, z = localToWorld(self.vehicle:getAIDirectionNode(), workWidth, 0, 0)
     self.fieldOnLeft = CpFieldUtil.isOnField(x, z)
+    _, self.fruitLeft = PathfinderUtil.hasFruit(x, z, 1, 1)
+    self.fruitLeft = self.fruitLeft or 0
+
     x, _, z = localToWorld(self.vehicle:getAIDirectionNode(), -workWidth, 0, 0)
     self.fieldOnRight = CpFieldUtil.isOnField(x, z)
+    _, self.fruitRight = PathfinderUtil.hasFruit(x, z, 1, 1)
+    self.fruitRight = self.fruitRight or 0
+
     self:debug('Fruit left: %.2f right %.2f, field on left %s, right %s',
             self.fruitLeft, self.fruitRight, tostring(self.fieldOnLeft), tostring(self.fieldOnRight))
 end