6.03.00037 Fix for very long implements and offset

Do not reset tool offset when starting, only on attach (fixes #6781)

Use the back marker offset when constructing the finish row course to make
sure it is long enough even in case of insanely long implements (fixes #6652)

config/VehicleConfigurations.xml

@@ -101,7 +101,7 @@ You can define the following custom settings:
     <!--vehicles\gregoireBesson-->
     <Vehicle name="SPSL9.xml"
              toolOffsetX="2.1"
-             turnRadius = "10"
+             turnRadius = "7.5"
              implementWheelAlwaysOnGround = "true"
 			 workingWidth = "10.5"
     />

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="47">
-	<version>6.03.00036</version>
+	<version>6.03.00037</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>

toolManager.lua

@@ -45,6 +45,10 @@ function courseplay:updateOnAttachOrDetach(vehicle)
 	end
 
 	courseplay:resetTools(vehicle)
+
+	-- reset tool offset to the preconfigured value if exists
+	vehicle.cp.settings.toolOffsetX:setToConfiguredValue()
+
 end
 
 --- Set up tool configuration after something is attached or detached
@@ -61,9 +65,6 @@ function courseplay:resetTools(vehicle)
 	courseplay.hud:setReloadPageOrder(vehicle, -1, true);
 
 	courseplay:calculateWorkWidth(vehicle, true);
-
-	-- reset tool offset to the preconfigured value if exists
-	vehicle.cp.settings.toolOffsetX:setToConfiguredValue()
 end;
 
 function courseplay:isAttachedMixer(workTool)

turn.lua

@@ -1812,8 +1812,8 @@ TurnContext = CpObject()
 --- node so when the vehicle's root node reaches the vehicleAtTurnEndNode, the front of the work area will exactly be on the
 --- turn end node. (The vehicle must be steered to the vehicleAtTurnEndNode instead of the turn end node so the implements
 --- reach exactly the row end)
----@param backMarkerDistance number distance of the rearmost work area from the vehicle's root node. Will only be used
---- to pass in to turn generator code and should be reviewed if it is needed at all.
+---@param backMarkerDistance number distance of the rearmost work area from the vehicle's root node. Will be used
+--- to pass in to turn generator code and to calculate the minimum length of the row finishing course.
 ---@param turnEndSideOffset number offset of the turn end in meters to left (>0) or right (<0) to end the turn left or
 --- right of the turn end node. Used when there's an offset to consider, for example because the implement is not
 --- in the middle, like plows.
@@ -1863,7 +1863,8 @@ function TurnContext:init(course, turnStartIx, aiDriverData, workWidth,
 
 	self.dx, _, self.dz = localToLocal(self.turnEndWpNode.node, self.workEndNode, 0, 0, 0)
 	self.leftTurn = self.dx > 0
-	self:debug('start ix = %d', turnStartIx)
+	self:debug('start ix = %d, back marker = %.1f, front marker = %.1f',
+		turnStartIx, self.backMarkerDistance, self.frontMarkerDistance)
 end
 
 function TurnContext:debug(...)
@@ -2192,13 +2193,15 @@ end
 ---@return Course
 function TurnContext:createFinishingRowCourse(vehicle)
 	local waypoints = {}
-	-- must be at least as long as the front marker distance so we are not reaching the end of the course before
-	-- the implement reaches the field edge (a negative frontMarkerDistance means the implement is behind the
-	-- vehicle, this isn't a problem for a positive frontMarkerDistance as the implement reaches the field edge
+	-- must be at least as long as the back marker distance so we are not reaching the end of the course before
+	-- the implement reaches the field edge (a negative backMarkerDistance means the implement is behind the
+	-- vehicle, this isn't a problem for a positive backMarkerDistance as the implement reaches the field edge
 	-- before the vehicle (except for very wide work widths of course, so make sure we have enough course to cross
 	-- the headland)
-	-- TODO: fix this properly, maybe we should check the end course during turns instead
-	for d = 0, math.max(self.workWidth * 1.5, -self.frontMarkerDistance * 6), 1 do
+	-- (back marker is the worst case, for when the raise implement is set to 'late'. If it is set to 'early',
+	-- the front marker distance would be here relevant but this is only for creating the course, where the vehicle will
+	-- stop finishing the row and start the turn depends only on the raise implement setting.
+	for d = 0, math.max(self.workWidth * 1.5, -self.backMarkerDistance * 1.5), 1 do
 		local x, _, z = localToWorld(self.workEndNode, 0, 0, d)
 		table.insert(waypoints, {x = x, z = z})
 	end

vehicles.lua

@@ -774,11 +774,7 @@ end;
 
 function courseplay:getToolTurnRadius(workTool)
 	local turnRadius	= 0; -- Default value if none is set
-
-	if g_vehicleConfigurations:get(workTool, 'turnRadius') then
-		turnRadius = g_vehicleConfigurations:get(workTool, 'turnRadius')
-		courseplay:debug(('%s -> TurnRadius: using configured value of %.2fm'):format(nameNum(workTool), turnRadius), 6);
-	elseif courseplay:isWheeledWorkTool(workTool) then
+	if courseplay:isWheeledWorkTool(workTool) then
 		local radiusMultiplier = 1.05; -- Used to add a little bit to the radius, for safer turns.
 
 		local wheelBase		= 0;
@@ -1559,23 +1555,37 @@ end
 
 -- Get the turning radius of the vehicle and its implements (copied from AIDriveStrategyStraight.updateTurnData())
 function AIDriverUtil.getTurningRadius(vehicle)
-	courseplay.debugVehicle(6, vehicle, 'Finding turn radius')
-	local radius = vehicle.maxTurningRadius * 1.1                     -- needs ackermann steering
+	courseplay.debugVehicle(6, vehicle, 'Finding turn radius:')
+
+	local radius = vehicle.maxTurningRadius * 1.05 -- TODO: do we really need this buffer?
+	courseplay.debugVehicle(6, vehicle, '  maxTurningRadius by Giants is %.1f', vehicle.maxTurningRadius)
 	if vehicle:getAIMinTurningRadius() ~= nil then
+		courseplay.debugVehicle(6, vehicle, '  AIMinTurningRadius by Giants is %.1f', vehicle:getAIMinTurningRadius())
 		radius = math.max(radius, vehicle:getAIMinTurningRadius())
 	end
-	local maxToolRadius = 0
 
 	local attachedAIImplements = vehicle:getAttachedImplements()
+	local maxToolRadius = 0
 
 	for _, implement in pairs(attachedAIImplements) do
-		local turnRadius = AIVehicleUtil.getMaxToolRadius(implement)
-		if turnRadius == 0 then
-			turnRadius = courseplay:getToolTurnRadius(implement.object)
-			courseplay.debugVehicle(6, vehicle, '%s: no Giants turn radius, we calculated %.1f', implement.object:getName(), turnRadius)
+		local turnRadius = 0
+		if g_vehicleConfigurations:get(implement.object, 'turnRadius') then
+			turnRadius = g_vehicleConfigurations:get(implement.object, 'turnRadius')
+			courseplay.debugVehicle(6, vehicle, '  %s: using the configured turn radius %.1f',
+				implement.object:getName(), turnRadius)
+		else
+			turnRadius = AIVehicleUtil.getMaxToolRadius(implement)
+			if turnRadius > 0 then
+				courseplay.debugVehicle(6, vehicle, '  %s: using the Giants turn radius %.1f',
+					implement.object:getName(), turnRadius)
+			else
+				turnRadius = courseplay:getToolTurnRadius(implement.object)
+				courseplay.debugVehicle(6, vehicle, '  %s: no Giants turn radius, we calculated %.1f',
+					implement.object:getName(), turnRadius)
+			end
 		end
 		maxToolRadius = math.max(maxToolRadius, turnRadius)
-		courseplay.debugVehicle(6, vehicle, '%s: max tool radius %.1f', implement.object:getName(), maxToolRadius)
+		courseplay.debugVehicle(6, vehicle, '  %s: max tool radius now is %.1f', implement.object:getName(), maxToolRadius)
 	end
 	radius = math.max(radius, maxToolRadius)
 	courseplay.debugVehicle(6, vehicle, 'getTurningRadius: %.1f m', radius)