6.03.00054 Potato/cotton harvester fixes

- Fix implement raise/lower for #7110 and #7112

- Cotton harversters should work better (#7103), except the JD

AITurn.lua

@@ -626,8 +626,61 @@ function CombinePocketHeadlandTurn:init(vehicle, driver, turnContext, fieldworkC
 	CombineCourseTurn.init(self, vehicle, driver, turnContext, fieldworkCourse,'CombinePocketHeadlandTurn')
 end
 
+--- Create a pocket in the next row at the corner to stay on the field during the turn maneuver.
+---@param turnContext TurnContext
+function CombinePocketHeadlandTurn:generatePocketHeadlandTurn(turnContext)
+	local cornerWaypoints = {}
+	local turnRadius = self.vehicle.cp.turnDiameter / 2
+	-- this is how far we have to cut into the next headland (the position where the header will be after the turn)
+	local offset = math.min(turnRadius + turnContext.frontMarkerDistance,  self.vehicle.cp.workWidth)
+	local corner = turnContext:createCorner(self.vehicle, turnRadius)
+	local d = -self.vehicle.cp.workWidth / 2 + turnContext.frontMarkerDistance
+	local wp = corner:getPointAtDistanceFromCornerStart(d + 2)
+	wp.speed = self.vehicle.cp.speeds.turn * 0.75
+	table.insert(cornerWaypoints, wp)
+	-- drive forward up to the field edge
+	wp = corner:getPointAtDistanceFromCornerStart(d)
+	wp.speed = self.vehicle.cp.speeds.turn * 0.75
+	table.insert(cornerWaypoints, wp)
+	-- drive back to prepare for making a pocket
+	-- reverse back to set up for the headland after the corner
+	local reverseDistance = 2 * offset
+	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance / 2)
+	wp.rev = true
+	table.insert(cornerWaypoints, wp)
+	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance)
+	wp.rev = true
+	table.insert(cornerWaypoints, wp)
+	-- now make a pocket in the inner headland to make room to turn
+	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance * 0.75, -offset * 0.75)
+	table.insert(cornerWaypoints, wp)
+	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance * 0.5, -offset * 0.9)
+	if not courseplay:isField(wp.x, wp.z) then
+		self:debug('No field where the pocket would be, this seems to be a 270 corner')
+		corner:delete()
+		return nil
+	end
+	table.insert(cornerWaypoints, wp)
+	-- drive forward to the field edge on the inner headland
+	wp = corner:getPointAtDistanceFromCornerStart(d, -offset)
+	wp.speed = self.vehicle.cp.speeds.turn * 0.75
+	table.insert(cornerWaypoints, wp)
+	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance / 2)
+	wp.rev = true
+	table.insert(cornerWaypoints, wp)
+	wp = corner:getPointAtDistanceFromCornerEnd(turnRadius / 3, turnRadius / 4)
+	wp.speed = self.vehicle.cp.speeds.turn * 0.5
+	table.insert(cornerWaypoints, wp)
+	wp = corner:getPointAtDistanceFromCornerEnd(turnRadius, turnRadius / 4)
+	wp.speed = self.vehicle.cp.speeds.turn * 0.5
+	table.insert(cornerWaypoints, wp)
+	corner:delete()
+	return Course(self.vehicle, cornerWaypoints, true), turnContext.turnEndWpIx
+end
+
+
 function CombinePocketHeadlandTurn:startTurn()
-	self.turnCourse = self.driver:createOuterHeadlandCornerCourse(self.turnContext)
+	self.turnCourse = self:generatePocketHeadlandTurn(self.turnContext)
 	if not self.turnCourse then
 		self:debug('Could not create pocket course, falling back to normal headland corner')
 		self:generateCalculatedTurn()

BalerAIDriver.lua

@@ -24,6 +24,11 @@ function BalerAIDriver:init(vehicle)
 	UnloadableFieldworkAIDriver.init(self, vehicle)
 	self.slowDownFillLevel = 200
     self.slowDownStartSpeed = 20
+
+	if SpecializationUtil.hasSpecialization(Combine, vehicle.specializations) or
+		AIDriverUtil.hasAIImplementWithSpecialization(vehicle, Combine) then
+		self.isCombine = true
+	end
 end
 
 function BalerAIDriver:driveFieldwork(dt)
@@ -52,6 +57,37 @@ function BalerAIDriver:initializeBaler()
 	end
 end
 
+function BalerAIDriver:startTurn(ix)
+	if self.isCombine then
+		self:debug('This vehicle is also a harvester, check check for special headland turns.')
+		self:setMarkers()
+		self.turnContext = TurnContext(self.course, ix, self.aiDriverData, self.vehicle.cp.workWidth,
+			self.frontMarkerDistance, self.backMarkerDistance,
+			self:getTurnEndSideOffset(), self:getTurnEndForwardOffset())
+
+		if self.turnContext:isHeadlandCorner() then
+			if self.course:isOnConnectingTrack(ix) then
+				self:debug('Headland turn but this a connecting track, use normal turn maneuvers.')
+				UnloadableFieldworkAIDriver.startTurn(self, ix)
+			elseif self.course:isOnOutermostHeadland(ix) and self.vehicle.cp.settings.turnOnField:is(true) then
+				self:debug('Creating a pocket in the corner so the harvester stays on the field during the turn')
+				self.aiTurn = CombinePocketHeadlandTurn(self.vehicle, self, self.turnContext, self.fieldworkCourse)
+				self.fieldworkState = self.states.TURNING
+				self.ppc:setShortLookaheadDistance()
+			else
+				self:debug('Use combine headland turn.')
+				self.aiTurn = CombineHeadlandTurn(self.vehicle, self, self.turnContext)
+				self.fieldworkState = self.states.TURNING
+			end
+		else
+			self:debug('Non headland turn.')
+			UnloadableFieldworkAIDriver.startTurn(self, ix)
+		end
+	else
+		UnloadableFieldworkAIDriver.startTurn(self, ix)
+	end
+end
+
 function BalerAIDriver:dismiss()
 	UnloadableFieldworkAIDriver.dismiss(self)
 	--revert possible change for the player to default 

CombineAIDriver.lua

@@ -43,12 +43,6 @@ CombineAIDriver.myStates = {
 	RETURNING_FROM_SELF_UNLOAD = {}
 }
 
-CombineAIDriver.turnTypes = {
-	HEADLAND_NORMAL = {},
-	HEADLAND_EASY = {},
-	HEADLAND_POCKET = {},
-	UP_DOWN_NORMAL = {}
-}
 
 -- Developer hack: to check the class of an object one should use the is_a() defined in CpObject.lua.
 -- However, when we reload classes on the fly during the development, the is_a() calls in other modules still
@@ -1005,27 +999,22 @@ function CombineAIDriver:startTurn(ix)
 	if self.turnContext:isHeadlandCorner() then
 		if self:isPotatoOrSugarBeetHarvester() then
 			self:debug('Headland turn but this harvester uses normal turn maneuvers.')
-			self.turnType = self.turnTypes.HEADLAND_NORMAL
 			UnloadableFieldworkAIDriver.startTurn(self, ix)
 		elseif self.course:isOnConnectingTrack(ix) then
 			self:debug('Headland turn but this a connecting track, use normal turn maneuvers.')
-			self.turnType = self.turnTypes.HEADLAND_NORMAL
 			UnloadableFieldworkAIDriver.startTurn(self, ix)
 		elseif self.course:isOnOutermostHeadland(ix) and self.vehicle.cp.settings.turnOnField:is(true) then
 			self:debug('Creating a pocket in the corner so the combine stays on the field during the turn')
 			self.aiTurn = CombinePocketHeadlandTurn(self.vehicle, self, self.turnContext, self.fieldworkCourse)
-			self.turnType = self.turnTypes.HEADLAND_POCKET
 			self.fieldworkState = self.states.TURNING
 			self.ppc:setShortLookaheadDistance()
 		else
 			self:debug('Use combine headland turn.')
 			self.aiTurn = CombineHeadlandTurn(self.vehicle, self, self.turnContext)
-			self.turnType = self.turnTypes.HEADLAND_EASY
 			self.fieldworkState = self.states.TURNING
 		end
 	else
 		self:debug('Non headland turn.')
-		self.turnType = self.turnTypes.UP_DOWN_NORMAL
 		UnloadableFieldworkAIDriver.startTurn(self, ix)
 	end
 end
@@ -1051,11 +1040,6 @@ function CombineAIDriver:isTurningOnHeadland()
 	return self.fieldworkState == self.states.TURNING and self.turnContext and self.turnContext:isHeadlandCorner()
 end
 
----@param turnType table one of CombineAIDriver.turnTypes
-function CombineAIDriver:isHeadlandTurn(turnType)
-	return turnType ~= CombineAIDriver.turnTypes.UP_DOWN_NORMAL
-end
-
 function CombineAIDriver:isTurningLeft()
 	return self.fieldworkState == self.states.TURNING and self.turnContext and self.turnContext:isLeftTurn()
 end
@@ -1068,59 +1052,6 @@ function CombineAIDriver:getWorkWidth()
 	return self.vehicle.cp.workWidth
 end
 
-
---- Create a pocket in the next row at the corner to stay on the field during the turn maneuver.
----@param turnContext TurnContext
-function CombineAIDriver:createOuterHeadlandCornerCourse(turnContext)
-	local cornerWaypoints = {}
-	local turnRadius = self.vehicle.cp.turnDiameter / 2
-	-- this is how far we have to cut into the next headland (the position where the header will be after the turn)
-	local offset = math.min(turnRadius + self.frontMarkerDistance,  self.vehicle.cp.workWidth)
-	local corner = turnContext:createCorner(self.vehicle, turnRadius)
-	local d = -self.vehicle.cp.workWidth / 2 + self.frontMarkerDistance
-	local wp = corner:getPointAtDistanceFromCornerStart(d + 2)
-	wp.speed = self.vehicle.cp.speeds.turn * 0.75
-	table.insert(cornerWaypoints, wp)
-	-- drive forward up to the field edge
-	wp = corner:getPointAtDistanceFromCornerStart(d)
-	wp.speed = self.vehicle.cp.speeds.turn * 0.75
-	table.insert(cornerWaypoints, wp)
-	-- drive back to prepare for making a pocket
-	-- reverse back to set up for the headland after the corner
-	local reverseDistance = 2 * offset
-	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance / 2)
-	wp.rev = true
-	table.insert(cornerWaypoints, wp)
-	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance)
-	wp.rev = true
-	table.insert(cornerWaypoints, wp)
-	-- now make a pocket in the inner headland to make room to turn
-	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance * 0.75, -offset * 0.75)
-	table.insert(cornerWaypoints, wp)
-	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance * 0.5, -offset * 0.9)
-	if not courseplay:isField(wp.x, wp.z) then
-		self:debug('No field where the pocket would be, this seems to be a 270 corner')
-		corner:delete()
-		return nil
-	end
-	table.insert(cornerWaypoints, wp)
-	-- drive forward to the field edge on the inner headland
-	wp = corner:getPointAtDistanceFromCornerStart(d, -offset)
-	wp.speed = self.vehicle.cp.speeds.turn * 0.75
-	table.insert(cornerWaypoints, wp)
-	wp = corner:getPointAtDistanceFromCornerStart(reverseDistance / 2)
-	wp.rev = true
-	table.insert(cornerWaypoints, wp)
-	wp = corner:getPointAtDistanceFromCornerEnd(turnRadius / 3, turnRadius / 4)
-	wp.speed = self.vehicle.cp.speeds.turn * 0.5
-	table.insert(cornerWaypoints, wp)
-	wp = corner:getPointAtDistanceFromCornerEnd(turnRadius, turnRadius / 4)
-	wp.speed = self.vehicle.cp.speeds.turn * 0.5
-	table.insert(cornerWaypoints, wp)
-	corner:delete()
-	return Course(self.vehicle, cornerWaypoints, true), turnContext.turnEndWpIx
-end
-
 function CombineAIDriver:isChopper()
 	return self.combine:getFillUnitCapacity(self.combine.fillUnitIndex) > 10000000
 end

FieldworkAIDriver.lua

@@ -1013,9 +1013,7 @@ end
 
 function FieldworkAIDriver:lowerImplements()
 	for _, implement in pairs(self.vehicle:getAttachedAIImplements()) do
-		if implement.object ~= self.vehicle then
-			implement.object:aiImplementStartLine()
-		end
+		implement.object:aiImplementStartLine()
 	end
 	self.vehicle:raiseStateChange(Vehicle.STATE_CHANGE_AI_START_LINE)
 
@@ -1028,9 +1026,7 @@ end
 
 function FieldworkAIDriver:raiseImplements()
 	for _, implement in pairs(self.vehicle:getAttachedAIImplements()) do
-		if implement.object ~= self.vehicle then
-			implement.object:aiImplementEndLine()
-		end
+		implement.object:aiImplementEndLine()
 	end
 	self.vehicle:raiseStateChange(Vehicle.STATE_CHANGE_AI_END_LINE)
 end

UnloadableFieldworkAIDriver.lua

@@ -55,12 +55,12 @@ function UnloadableFieldworkAIDriver.create(vehicle)
 		-- Bale wrapper is derived from baler so must check it first to make sure that we instantiate a
 		-- BaleWrapperAIDriver if we have both the baler and the balewrapper specialization
 		return BaleWrapperAIDriver(vehicle)
-	elseif SpecializationUtil.hasSpecialization(Combine, vehicle.specializations) or
-		AIDriverUtil.hasAIImplementWithSpecialization(vehicle, Combine) then
-		return CombineAIDriver(vehicle)
 	elseif SpecializationUtil.hasSpecialization(Baler, vehicle.specializations) or
 		AIDriverUtil.hasAIImplementWithSpecialization(vehicle, Baler) then
 		return BalerAIDriver(vehicle)
+	elseif SpecializationUtil.hasSpecialization(Combine, vehicle.specializations) or
+		AIDriverUtil.hasAIImplementWithSpecialization(vehicle, Combine) then
+		return CombineAIDriver(vehicle)
 	elseif SpecializationUtil.hasSpecialization(Plow, vehicle.specializations) or
 		AIDriverUtil.hasAIImplementWithSpecialization(vehicle, Plow) then
 		return PlowAIDriver(vehicle)

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="47">
-	<version>6.03.00053</version>
+	<version>6.03.00054</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title><!-- en=English de=German fr=French es=Spanish ru=Russian pl=Polish it=Italian br=Brazilian-Portuguese cs=Chinese(Simplified) ct=Chinese(Traditional) cz=Czech nl=Netherlands hu=Hungary jp=Japanese kr=Korean pt=Portuguese ro=Romanian tr=Turkish -->
 		<en>CoursePlay SIX</en>