Merge pull request #7320 from MddMBorg/MddMBorg/ChangesForDumpingInSilos

Mdd m borg/changes for dumping in silos

AIDriver.lua

@@ -1193,10 +1193,11 @@ function AIDriver:dischargeAtUnloadPoint(dt,unloadPointIx)
 				local _,_,z = worldToLocal(tipRefpoint, uX,uY,uZ);
 				z = courseplay:isNodeTurnedWrongWay(vehicle,tipRefpoint)and -z or z
 
-				local foundHeap = self:checkForHeapBehindMe(tipper)
+				local foundHeap, fillLevel = self:checkForHeapBehindMe(tipper)
 
 				--when we reached the unload point, stop the tractor and inhibit any action from ppc till the trailer is empty
-				if (foundHeap or z >= 0) and tipper.cp.fillLevel ~= 0 or tipper:getTipState() ~= Trailer.TIPSTATE_CLOSED then
+				--check the heap is at least a specific size and not just a mote, so that the tipper can add to the pile a little bit instead of being so far forward
+				if ((foundHeap and fillLevel > 2000) or z >= 0) and tipper.cp.fillLevel ~= 0 or tipper:getTipState() ~= Trailer.TIPSTATE_CLOSED then
 					stopForTipping = true
 					readyToDischarge = true
 				end
@@ -1216,8 +1217,8 @@ function AIDriver:dischargeAtUnloadPoint(dt,unloadPointIx)
 					self.pullForward = false
 				end
 
-				self:debugSparse('foundHeap(%s) z(%s) readyToDischarge(%s) isTipping(%s) pullForward(%s)',
-						tostring(foundHeap), tostring(z), tostring(readyToDischarge), tostring(isTipping), tostring(self.pullForward))
+				self:debugSparse('foundHeap(%s) heapSize(%s) z(%s) readyToDischarge(%s) isTipping(%s) pullForward(%s)',
+						tostring(foundHeap), tostring(fillLevel), tostring(z), tostring(readyToDischarge), tostring(isTipping), tostring(self.pullForward))
 
 				--ready with tipping, go forward on the course
 				if tipper.cp.fillLevel == 0 then
@@ -1269,16 +1270,18 @@ function AIDriver:dischargeAtUnloadPoint(dt,unloadPointIx)
 end
 
 function AIDriver:checkForHeapBehindMe(tipper)
-	local dischargeNode = tipper:getCurrentDischargeNode().node
-	local offset = -self.settings.loadUnloadOffsetZ:get()
-	offset = courseplay:isNodeTurnedWrongWay(self.vehicle,dischargeNode)and -offset or offset
-	local startX,startY,startZ = localToWorld(dischargeNode,0,0,offset) ;
-	local tempHeightX,tempHeightY,tempHeightZ = localToWorld(dischargeNode,0,0,offset+0.5) 
-	local searchWidth = 1	
-	local fillType = DensityMapHeightUtil.getFillTypeAtLine(startX,startY,startZ,tempHeightX,tempHeightY,tempHeightZ, searchWidth)
-	if fillType == tipper.cp.fillType then
-		return true;
-	end
+    local dischargeNode = tipper:getCurrentDischargeNode().node
+    local offset = -self.settings.loadUnloadOffsetZ:get()
+    offset = courseplay:isNodeTurnedWrongWay(self.vehicle,dischargeNode)and -offset or offset
+    local startX,startY,startZ = localToWorld(dischargeNode,0,0,offset) ;
+    local tempHeightX,tempHeightY,tempHeightZ = localToWorld(dischargeNode,0,0,offset+0.5) 
+    local searchWidth = 1    
+    local fillType = DensityMapHeightUtil.getFillTypeAtLine(startX,startY,startZ,tempHeightX,tempHeightY,tempHeightZ, searchWidth)
+    if fillType == tipper.cp.fillType then
+        local fillLevel = DensityMapHeightUtil.getFillLevelAtArea(fillType,startX,startZ,startX,startZ+1,startX+1,startZ)    --should represent an area of 1m^2 starting at the discharge node
+        return true,fillLevel
+    end
+    return false,0
 end
 
 --only bga, else triggerHandler handles discharge!

BunkerSiloAIDriver.lua

@@ -231,7 +231,7 @@ function BunkerSiloAIDriver:getDriveIntoSiloCourse(targetColumn)
 	local driveDirection = self:isDriveDirectionReverse()
 	local numLines = self.bunkerSiloManager:getNumberOfLines()
 	local x,z = self.bunkerSiloManager:getSiloPartPosition(1,targetColumn)
-	local dx,dz = self.bunkerSiloManager:getSiloPartPosition(numLines,targetColumn)
+	local dx,dz = self.bunkerSiloManager:getSiloPartPosition(numLines - 1,targetColumn)		--stop a little bit shy of the end to prevent pushing chaff out of open-end bunker
 	local startOffset = -5
 	local course = Course.createFromTwoWorldPositions(self.vehicle, x, z, dx, dz, 0, startOffset, 0, 5, driveDirection)
 	local firstWpIx