6.01.00197 Mode 4 and 6 improvements for Courseplay#3626

Always use an alignment course when driving on the field a the waypoint
on the field to start work.

Use animation durations to figure out how long it takes to lower tools.
For now, don't use the measured time as it was unreliable.

AIDriver.lua

@@ -397,7 +397,7 @@ end
 function AIDriver:startCourseWithAlignment(course, ix)
 	self.turnIsDriving = false
 	local alignmentCourse = nil
-	if self.vehicle.cp.alignment.enabled and self:isAlignmentCourseNeeded(course, ix) then
+	if self:isAlignmentCourseNeeded(course, ix) then
 		alignmentCourse = self:setUpAlignmentCourse(course, ix)
 	end
 	if alignmentCourse then

FieldworkAIDriver.lua

@@ -55,10 +55,6 @@ function FieldworkAIDriver:init(vehicle)
 	self.heldForUnloadRefillTimestamp = 0
 	-- stop and raise implements while refilling/unloading on field
 	self.stopImplementsWhileUnloadOrRefillOnField = true
-	-- time to lower all implements. This is a default value and will
-	-- be adjusted by the driver as it learns and then used to start lowering implements in time
-	-- so they reach the working position before the row starts.
-	self.loweringDurationMs = 3000
 	-- duration of the last turn maneuver. This is a default value and the driver will measure
 	-- the actual turn times. Used to calculate the remaining fieldwork time
 	self.turnDurationMs = 20000
@@ -140,6 +136,11 @@ end
 function FieldworkAIDriver:start(ix)
 	self:debug('Starting in mode %d', self.mode)
 	self:beforeStart()
+	-- time to lower all implements
+	self:findLoweringDurationMs()
+	-- always enable alignment with first waypoint, this is needed to properly start/continue fieldwork
+	self.alignmentEnabled = self.vehicle.cp.alignment.enabled
+	self.vehicle.cp.alignment.enabled = true
 	-- stop at the last waypoint by default
 	self.vehicle.cp.stopAtEnd = true
 	-- any offset imposed by the driver itself (tight turns, end of course, etc.), addtional to any
@@ -185,6 +186,8 @@ end
 function FieldworkAIDriver:stop(msgReference)
 	self:stopWork()
 	AIDriver.stop(self, msgReference)
+	-- Restore alignment settings. TODO: remove this setting from the HUD and always enable it
+	self.vehicle.cp.alignment.enabled = self.alignmentEnabled
 end
 
 function FieldworkAIDriver:drive(dt)
@@ -232,7 +235,6 @@ function FieldworkAIDriver:driveFieldwork()
 			self:debug('all tools ready, start working')
 			self.fieldworkState = self.states.WORKING
 			self:setSpeed(self:getFieldSpeed())
-			self:calculateLoweringDuration()
 		else
 			self:debugSparse('waiting for all tools to lower')
 			self:setSpeed(0)
@@ -406,7 +408,8 @@ function FieldworkAIDriver:onWaypointPassed(ix)
 end
 
 function FieldworkAIDriver:onWaypointChange(ix)
-	self:debug('onWaypointChange %d', ix)
+	self:debug('onWaypointChange %d, connecting: %s, temp: %s',
+		ix, tostring(self.course:isOnConnectingTrack(ix)), tostring(self.states == self.states.TEMPORARY))
 	if self.state == self.states.ON_FIELDWORK_COURSE then
 		self:updateRemainingTime(ix)
 		self:calculateTightTurnOffset()
@@ -821,7 +824,6 @@ function FieldworkAIDriver:lowerImplements()
 		implement.object:aiImplementStartLine()
 	end
 	self.vehicle:raiseStateChange(Vehicle.STATE_CHANGE_AI_START_LINE)
-	self:startLoweringDurationTimer()
 end
 
 function FieldworkAIDriver:raiseImplements()
@@ -853,3 +855,46 @@ function FieldworkAIDriver:getCanShowDriveOnButton()
 	return self.state == self.states.ON_FIELDWORK_COURSE 
 end
 
+function FieldworkAIDriver:getLoweringDurationMs()
+	return self.loweringDurationMs
+end
+
+function FieldworkAIDriver:findLoweringDurationMs()
+	local function getLoweringDurationMs(object)
+		if object.spec_animatedVehicle then
+			-- TODO: implement these in the specifications?
+			return math.max(object.spec_animatedVehicle:getAnimationDuration('lowerAnimation'),
+				object.spec_animatedVehicle:getAnimationDuration('rotatePickup'))
+		else
+			return 0
+		end
+	end
+
+	self.loweringDurationMs = getLoweringDurationMs(self.vehicle)
+	self:debug('Lowering duration: %d ms', self.loweringDurationMs)
+
+	-- check all implements first
+	local implements = self.vehicle:getAttachedImplements()
+	for _, implement in ipairs(implements) do
+		local implementLoweringDurationMs = getLoweringDurationMs(implement.object)
+		self:debug('Lowering duration (%s): %d ms', implement.object:getName(), implementLoweringDurationMs)
+		if implementLoweringDurationMs > self.loweringDurationMs then
+			self.loweringDurationMs = implementLoweringDurationMs
+		end
+		local jointDescIndex = implement.jointDescIndex
+		-- now check the attacher joints
+		if self.vehicle.spec_attacherJoints and jointDescIndex then
+			local ajs = self.vehicle.spec_attacherJoints:getAttacherJoints()
+			local ajLoweringDurationMs = ajs[jointDescIndex] and ajs[jointDescIndex].moveDefaultTime or 0
+			self:debug('Lowering duration (%s attacher joint): %d ms', implement.object:getName(), ajLoweringDurationMs)
+			if ajLoweringDurationMs > self.loweringDurationMs then
+				self.loweringDurationMs = ajLoweringDurationMs
+			end
+		end
+	end
+	if not self.loweringDurationMs or self.loweringDurationMs <= 1 then
+		self.loweringDurationMs = 2000
+		self:debug('No lowering duration found, setting to: %d ms', self.loweringDurationMs)
+	end
+	self:debug('Final lowering duration: %d ms', self.loweringDurationMs)
+end

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="40">
-	<version>6.01.00196</version>
+	<version>6.01.00197</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title>
 		<br>CoursePlay SIX</br>