Merge pull request #3484 from Courseplay/turn-fix

Turn fixes

config/VehicleConfigurations.xml

@@ -551,7 +551,7 @@ You can define the following custom settings:
     <!--Implements-->
     <!--Mod: Gregoire Besson SPSL9 -->
     <Vehicle name="spsl9.xml"
-             turnRadius = "7.5"
+             turnRadius = "9.0"
              implementWheelAlwaysOnGround = "true"
 			 workingWidth = "10.5"
              raiseLate = "true"

scripts/Course.lua

@@ -224,7 +224,7 @@ function Course:enrichWaypointData(startIx)
         self.waypoints[i].curvature = i == 1 and 0 or 1 / self:calculateSignedRadius(i)
         if (self:isReverseAt(i) and not self:switchingToForwardAt(i)) or self:switchingToReverseAt(i) then
             -- X offset must be reversed at waypoints where we are driving in reverse
-            self.waypoints[i]:setReverseOffset()
+            self.waypoints[i]:setReverseOffset(true)
         end
     end
     -- make the last waypoint point to the same direction as the previous so we don't

scripts/Waypoint.lua

@@ -164,7 +164,7 @@ function Waypoint:getOffsetPosition(offsetX, offsetZ, dx, dz)
 	-- check for NaN
 	if deltaX and deltaZ and deltaX == deltaX and deltaZ == deltaZ then
 		-- X offset should be inverted if we drive reverse here (left is always left regardless of the driving direction)
-		local reverse = self.rev and -1 or 1
+		local reverse = self.reverseOffset and -1 or 1
 		x = x - deltaZ * reverse * offsetX + deltaX * offsetZ
 		z = z + deltaX * reverse * offsetX + deltaZ * offsetZ
 	end
@@ -203,8 +203,8 @@ function Waypoint:setPosition(x, z, y)
 	end
 end
 
-function Waypoint:setReverseOffset()
-	self.reverseOffset = true
+function Waypoint:setReverseOffset(reverseOffset)
+	self.reverseOffset = reverseOffset
 end
 
 function Waypoint:translate(dx, dz)

scripts/ai/turns/AITurn.lua

@@ -275,6 +275,11 @@ end
 
 --- Give back control the the drive strategy
 function AITurn:resumeFieldworkAfterTurn(ix)
+    -- just in case, raise this event so plows are rotated to the working position. Should really never end up
+    -- here though, as the course should be long enough for the normal turn end processing to be triggered.
+    self.driveStrategy:raiseControllerEvent(AIDriveStrategyCourse.onTurnEndProgressEvent,
+            self.turnContext.workStartNode, self.ppc:isReversing(), true, self.turnContext:isLeftTurn())
+
     if self.proximityController then
         self.proximityController:unregisterBlockingObjectListener()
     end
@@ -638,10 +643,13 @@ function CourseTurn:onWaypointChange(ix)
     if self.turnCourse then
         if self.forceTightTurnOffset or (self.enableTightTurnOffset and self.turnCourse:useTightTurnOffset(ix)) then
             -- adjust the course a bit to the outside in a curve to keep a towed implement on the course
-            -- TODO_22
             self.tightTurnOffset = AIUtil.calculateTightTurnOffset(self.vehicle, self.turningRadius, self.turnCourse,
                     self.tightTurnOffset, true)
             self.turnCourse:setOffset(self.tightTurnOffset, 0)
+        else
+            -- reset offset to 0 if tight turn offset is not on
+            self.tightTurnOffset = 0
+            self.turnCourse:setOffset(0, 0)
         end
     end
 end