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Temporary fix for baleloaders in fieldwork mode #2770

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merged 2 commits into from
Sep 16, 2023
Merged

Temporary fix for baleloaders in fieldwork mode #2770

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9265afd
Temporary fix for baleloaders in fieldwork mode
schwiti6190 Sep 15, 2023
cb0807a
Update BaleLoaderController.lua
Tensuko Sep 16, 2023
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32 changes: 28 additions & 4 deletions scripts/ai/controllers/BaleLoaderController.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -54,9 +54,17 @@ function BaleLoaderController:canBeFolded()
end

function BaleLoaderController:update()
if self:isFull() and self:isChangingBaleSize() then
if self.baleLoaderSpec.emptyState == BaleLoader.EMPTY_NONE then
self.baleLoader:startAutomaticBaleUnloading()
if self:isFull() then
if self:isChangingBaleSize() then
if self.baleLoaderSpec.emptyState == BaleLoader.EMPTY_NONE then
self.baleLoader:startAutomaticBaleUnloading()
end
end
if not self:isBaleFinderMode() then
--- In the fieldwork mode the driver has to stop once full
--- The bale finder mode controls this in the strategy.
--- TODO: Breaks multiple trailers in fieldwork (on one tractor)!
self.vehicle:stopCurrentAIJob(AIMessageErrorIsFull.new())
end
end
end
Expand All @@ -71,6 +79,13 @@ function BaleLoaderController:getDriveData()
if self.baleLoaderSpec.emptyState == BaleLoader.EMPTY_WAIT_TO_SINK then
maxSpeed = 1
end
if not self:isBaleFinderMode() then
if self:isGrabbingBale() then
self:debugSparse("Waiting until the bale pickup has finished.")
maxSpeed = 0
end
end

return nil, nil, nil, maxSpeed
end

Expand All @@ -92,4 +107,13 @@ end
--- Is the bale loader transforming the picked up bale to a different bale size ?
function BaleLoaderController:isChangingBaleSize()
return self.baleLoaderSpec.balePacker.node ~= nil and self.baleLoaderSpec.balePacker.filename ~= nil
end
end

--- Is the bale finder mode active and not a normal fieldworker?
function BaleLoaderController:isBaleFinderMode()
--- For field work the bale loader has to wait until loading finished
--- and needs to stop when the full.
--- TODO: this is a more a hack and the fieldwork strategy
--- or another instance should handle the is full check
return self.driveStrategy:isa(AIDriveStrategyFindBales)
end