Merge pull request #3179 from Courseplay/3173-bug_sp-plough-turning-c…

…ircle

feat: config to adjust tight turn offset
Should work better that way, but it won't be perfect. Due to the nature of the plow, the wheels would need an extra offset for turn end. The effort we would have to put in this, is way too much for one plow. reducing the work width will help.
Reduced it to already 5.8m and slightly adjusted the turn radius.

config/VehicleConfigurations.xml

@@ -128,7 +128,7 @@ You can define the following custom settings:
 	Disables the pipe height adjustment for trailers of a few pipe implements/vehicles.
 
 - ignorePipeMovingToolIndex: int
-	Ignores the given pipe moving tool by it's index.
+	Ignores the given pipe moving tool by its index.
 	This can be used to ignore a pipe moving part 
 	and only use one part.
 	An example is the premium expansion Dewulf P3K Profi.
@@ -141,6 +141,14 @@ You can define the following custom settings:
 	Moving tool index for the pipe controller to control the pipe height.
 	This index is for the pipe part that is directly connected to the discharge node.
 
+- tightTurnOffsetDistanceInTurns: float
+    "Tight turn offset" is extending the radius of turns with a towed implement, in
+    order to keep the implement on the path, while the tractor is driving outside the
+    generated turn course. This is usually applied to the last curvy 10-20 meters of the
+    turn course. With this value you can override the default to make this section
+    shorter for some implements, especially big plows turn on the spot and align
+    better with the next row without tight turn offset.
+
 -->
 <VehicleConfigurations>
 	<Configurations>
@@ -169,6 +177,7 @@ You can define the following custom settings:
 		<Configuration type="INT">basePipeMovingToolIndex</Configuration>
 		<Configuration type="INT">childPipeMovingToolIndex</Configuration>
 		<Configuration type="FLOAT">unloadOffsetX</Configuration>
+        <Configuration type="FLOAT">tightTurnOffsetDistanceInTurns</Configuration>
 	</Configurations>
     <!--[GIANTS]-->
 
@@ -473,7 +482,9 @@ You can define the following custom settings:
     <Vehicle name="pw10012.xml"
              noReverse = "true"
              implementWheelAlwaysOnGround = "true"
-             turnRadius = "7.5"
+             tightTurnOffsetDistanceInTurns = "1"
+             workingWidth = "5.8"
+             turnRadius = "7.8"
              raiseLate = "true"
              lowerEarly = "true"
     />

scripts/ai/AIUtil.lua

@@ -321,9 +321,10 @@ end
 ---@param vehicle table
 ---@param object table
 ---@return boolean
-function AIUtil.isObjectAttachedOnTheBack(vehicle,object)
-	local _, _, dz = localToLocal(object.rootNode, AIUtil.getDirectionNode(vehicle), 0, 0, 0)
-	if dz < 0 then
+function AIUtil.isObjectAttachedOnTheBack(vehicle, object)
+	-- TODO: now in the implement's coordinate system, this is still not 100% reliable in turns
+	local _, _, dz = localToLocal(AIUtil.getDirectionNode(vehicle), object.rootNode, 0, 0, 0)
+	if dz > 0 then
 		return true
 	end
 	return false

scripts/ai/turns/AITurn.lua

@@ -732,7 +732,7 @@ function CourseTurn:onPathfindingDone(path)
         self.turnCourse:setUseTightTurnOffsetForLastWaypoints(15)
         local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.turnCourse, nil, true)
         local x = AIUtil.getDirectionNodeToReverserNodeOffset(self.vehicle)
-        self:debug('Extending course at direction switch for reversing to %.1f m (or at least 1m)', -x )
+        self:debug('Extending course at direction switch for reversing to %.1f m (or at least 1m)', -x)
         self.turnCourse:adjustForReversing(math.max(1, -x))
         TurnManeuver.setLowerImplements(self.turnCourse, endingTurnLength, true)
     else
@@ -987,7 +987,7 @@ function StartRowOnly:init(vehicle, driveStrategy, ppc, turnContext, startRowCou
     local _, steeringLength = AIUtil.getSteeringParameters(self.vehicle)
     self.enableTightTurnOffset = steeringLength > 0 and not AIUtil.hasArticulatedAxis(self.vehicle)
 
-        -- TODO: do we need tight turn offset here?
+    -- TODO: do we need tight turn offset here?
     self.turnCourse:setUseTightTurnOffsetForLastWaypoints(15)
     -- add a turn ending section into the row to make sure the implements are lowered correctly
     local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.turnCourse, 3, true)

scripts/ai/turns/TurnManeuver.lua

@@ -313,7 +313,9 @@ function AnalyticTurnManeuver:init(vehicle, turnContext, vehicleDirectionNode, t
 	self.course = self:findAnalyticPath(vehicleDirectionNode, 0, turnEndNode, 0, goalOffset, self.turningRadius)
 
 	-- make sure we use tight turn offset towards the end of the course so a towed implement is aligned with the new row
-	self.course:setUseTightTurnOffsetForLastWaypoints(10)
+
+	self.course:setUseTightTurnOffsetForLastWaypoints(
+			g_vehicleConfigurations:getRecursively(vehicle, 'tightTurnOffsetDistanceInTurns') or 10)
 	local ixBeforeEndingTurnSection = self.course:getNumberOfWaypoints()
 	-- and once again, if there is an ending course, keep adjusting the tight turn offset
 	local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.course, steeringLength, true)
@@ -428,7 +430,8 @@ function TurnEndingManeuver:init(vehicle, turnContext, vehicleDirectionNode, tur
 	self:generateStraightSection(endArc, endStraight)
 	myCorner:delete()
 	self.course = Course(vehicle, self.waypoints, true)
-	self.course:setUseTightTurnOffsetForLastWaypoints(20)
+	self.course:setUseTightTurnOffsetForLastWaypoints(
+			g_vehicleConfigurations:getRecursively(vehicle, 'tightTurnOffsetDistanceInTurns') or 20)
 	TurnManeuver.setLowerImplements(self.course, math.max(math.abs(turnContext.frontMarkerDistance), steeringLength))
 end