fix: Don't drive with pipe in not allowed states

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)

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