fix: make sure rotated plow is lowered

#2761

scripts/ai/AIUtil.lua

@@ -54,7 +54,7 @@ function AIUtil.calculateTightTurnOffset(vehicle, vehicleTurningRadius, course,
 	local tightTurnOffset
 
 	local function smoothOffset(offset)
-		return (offset + 3 * (previousOffset or 0 )) / 4
+		return (offset + 4 * (previousOffset or 0 )) / 5
 	end
 
 	-- first of all, does the current waypoint have radius data?

scripts/ai/PurePursuitController.lua

@@ -241,15 +241,6 @@ function PurePursuitController:switchControlledNode()
 	end
 end
 
---- Compatibility function to return the original waypoint index as in vehicle.Waypoints. This
--- is the same as self.currentWpNode.ix unless we have combined courses where the legacy CP code
--- concatenates all courses into one Waypoints array (as opposed to the AIDriver which splits these
--- combined courses into its parts). The rest of the CP code however (HUD, reverse, etc.) works with
--- vehicle.Waypoints and vehicle.cp.waypointIndex and therefore expects the combined index
-function PurePursuitController:getCurrentOriginalWaypointIx()
-	return self.course.waypoints[self:getCurrentWaypointIx()].cpIndex
-end
-
 function PurePursuitController:update()
 	if not self.course then
 		self:debugSparse('no course set.')

scripts/ai/controllers/ImplementController.lua

@@ -90,7 +90,7 @@ end
 function ImplementController:onFinishRow(isHeadlandTurn)
 end
 
-function ImplementController:onTurnEndProgress(workStartNode, shouldLower, isLeftTurn)
+function ImplementController:onTurnEndProgress(workStartNode, reversing, shouldLower, isLeftTurn)
 end
 
 --- Any object this controller wants us to ignore, can register here a callback at the proximity controller

scripts/ai/controllers/PlowController.lua

@@ -6,6 +6,13 @@ PlowController = CpObject(ImplementController)
 function PlowController:init(vehicle, implement)
     ImplementController.init(self, vehicle, implement)
     self.plowSpec = self.implement.spec_plow
+    -- towed (not hitch mounted) and can reverse
+    self.towed = AIUtil.getFirstReversingImplementWithWheels(vehicle, true)
+    -- temporarily store the direction of the last turn. This hack is for the case when for some reason
+    -- the plow was not rotated into the working position before lowering. If that's the case, onLowering will
+    -- rotate it but it needs to know which direction to lower, which, however is not known at that point
+    -- anymore
+    self.lastTurnIsLeftTurn = CpTemporaryObject()
 end
 
 
@@ -98,22 +105,44 @@ function PlowController:onFinishRow(isHeadlandTurn)
     end
 end
 
+
+--- making sure the plow is in the working position when lowering
+-- TODO: this whole magic hack would not be necessary if we moved the actual lowering into onTurnEndProgress()
+function PlowController:onLowering()
+    -- if we just turned (that is, not starting to work)
+    local lastTurnIsLeftTurn = self.lastTurnIsLeftTurn:get()
+    if lastTurnIsLeftTurn ~= nil and
+            self:isRotatablePlow() and not self:isFullyRotated() and not self:isRotationActive() then
+        self:debug('Lowering, rotating plow to working position (last turn is left %s).', lastTurnIsLeftTurn)
+        -- rotation direction depends on the direction of the last turn
+        self.implement:setRotationMax(lastTurnIsLeftTurn)
+    end
+end
+
 --- This is called in every loop when we approach the start of the row, the location where
 --- the plow must be lowered. Currently AIDriveStrategyFieldworkCourse takes care of the lowering,
 --- here we only make sure that the plow is rotated to the work position (from the center position)
 --- in time.
 ---@param workStartNode number node where the work starts as calculated by TurnContext
+---@param reversing boolean driving in reverse now
 ---@param shouldLower boolean the implement should be lowered as we are close to the work start (this
 --- should most likely be calculated here in the controller, but for now, we get it from an argument
 ---@param isLeftTurn boolean is this a left turn?
-function PlowController:onTurnEndProgress(workStartNode, shouldLower, isLeftTurn)
+function PlowController:onTurnEndProgress(workStartNode, reversing, shouldLower, isLeftTurn)
+    self.lastTurnIsLeftTurn:set(isLeftTurn or false, 2000)
     if self:isRotatablePlow() and not self:isFullyRotated() and not self:isRotationActive() then
         -- more or less aligned with the first waypoint of the row, start rotating to working position
-        -- or, when it should have been lowered, that is, we are too late, not aligned yet, but
-        -- rotate anyway
         if CpMathUtil.isSameDirection(self.implement.rootNode, workStartNode, 30) or shouldLower then
-            self:debug('Rotating plow to working position now.')
-            self.implement:setRotationMax(isLeftTurn)
+            if self.towed then
+                -- let towed plows remain in the center position while reversing to the start of the row
+                if not reversing then
+                    self:debug('Rotating towed plow to working position.')
+                    self.implement:setRotationMax(isLeftTurn)
+                end
+            else
+                self:debug('Rotating hitch-mounted plow to working position.')
+                self.implement:setRotationMax(isLeftTurn)
+            end
         end
     end
 end

scripts/ai/turns/AITurn.lua

@@ -586,7 +586,7 @@ function CourseTurn:endTurn(dt)
     -- keep driving on the turn course until we need to lower our implements
     local shouldLower, dz = self.driveStrategy:shouldLowerImplements(self.turnContext.workStartNode, self.ppc:isReversing())
     self.driveStrategy:raiseControllerEvent(AIDriveStrategyCourse.onTurnEndProgressEvent,
-            self.turnContext.workStartNode, shouldLower, self.turnContext:isLeftTurn())
+            self.turnContext.workStartNode, self.ppc:isReversing(), shouldLower, self.turnContext:isLeftTurn())
     if shouldLower then
         if not self.implementsLowered then
             -- have not started lowering implements yet

scripts/dev/DevHelper.lua

@@ -47,10 +47,6 @@ function DevHelper:update()
     -- make sure not calling this for something which does not have courseplay installed (only ones with spec_aiVehicle)
     if g_currentMission.controlledVehicle and g_currentMission.controlledVehicle.spec_aiVehicle then
 
-        if self.vehicle ~= g_currentMission.controlledVehicle then
-            --self.vehicleData = PathfinderUtil.VehicleData(g_currentMission.controlledVehicle, true)
-        end
-
         self.vehicle = g_currentMission.controlledVehicle
         self.node = g_currentMission.controlledVehicle:getAIDirectionNode()
         lx, _, lz = localDirectionToWorld(self.node, 0, 0, 1)
@@ -169,6 +165,8 @@ function DevHelper:keyEvent(unicode, sym, modifier, isDown)
         if ok then
             self.course = course
         end
+    elseif bitAND(modifier, Input.MOD_LALT) ~= 0 and isDown and sym == Input.KEY_n then
+        self:togglePpcControlledNode()
     end
 end
 
@@ -182,11 +180,13 @@ function DevHelper:draw()
     for key, value in pairs(self.data) do
         table.insert(data, {name = key, value = value})
     end
-    DebugUtil.renderTable(0.65, 0.3, 0.013, data, 0.05)
+    DebugUtil.renderTable(0.65, 0.27, 0.013, data, 0.05)
 
     self:showFillNodes()
     self:showAIMarkers()
 
+    self:showDriveData()
+
 	if not self.tNode then
 		self.tNode = createTransformGroup("devhelper")
 		link(g_currentMission.terrainRootNode, self.tNode)
@@ -268,6 +268,25 @@ function DevHelper:showAIMarkers()
 
 end
 
+function DevHelper:togglePpcControlledNode()
+    if not self.vehicle then return end
+    local strategy = self.vehicle:getCpDriveStrategy()
+    if not strategy then return end
+    if strategy.ppc:getControlledNode() == AIUtil.getReverserNode(self.vehicle) then
+        strategy.pcc:resetControlledNode()
+    else
+        strategy.ppc:setControlledNode(AIUtil.getReverserNode(self.vehicle))
+    end
+end
+
+function DevHelper:showDriveData()
+    if not self.vehicle then return end
+    local strategy = self.vehicle:getCpDriveStrategy()
+    if not strategy then return end
+    strategy.ppc:update()
+    strategy.reverser:getForwardDriveData()
+end
+
 -- make sure to recreate the global dev helper whenever this script is (re)loaded
 if g_devHelper then
     g_devHelper:delete()

scripts/util/CpRemainingTime.lua

@@ -52,7 +52,7 @@ end
 
 function CpRemainingTime:update(dt)
 	if g_currentMission.controlledVehicle == self.vehicle and self.DEBUG_ACTIVE and CpDebug:isChannelActive(self.debugChannel, self.vehicle) then
-		DebugUtil.renderTable(0.4, 0.4, 0.018, {
+		DebugUtil.renderTable(0.2, 0.2, 0.018, {
 			{name = "time", value = CpGuiUtil.getFormatTimeText(self.time)},
 			{name = "optimal speed", value = MathUtil.mpsToKmh(self:getOptimalSpeed())},
 			{name = "optimal time", value = CpGuiUtil.getFormatTimeText(self:getOptimalCourseTime(self.course, self.lastIx))},