Drop delay for silage bales on baler-wrapper-combo after turns (Cours…

…eplay#3632)

* Added drop delay on baler-wrapper-combos

Baler-wrapper-combo alsways drops bales on headlands after turn. Added delay to fix this issue.

* Increased code efficiency

Calculation only takes place if wrapper needs to be unloaded. Reduces calculation amount significantly.

BaleWrapperAIDriver.lua

@@ -31,14 +31,25 @@ end
 function BaleWrapperAIDriver:driveFieldwork()
 	-- Don't drop the bale in the turn
 	if not self.turnIsDriving then
+
 		-- stop while wrapping only if we deon't have a baler. If we do we should continue driving and working
 		-- on the next bale, the baler code will take care about stopping if we need to
 		if self.baleWrapper.spec_baleWrapper.baleWrapperState ~= BaleWrapper.STATE_NONE and not self.baler then
 			self:setSpeed(0)
 		end
 		-- Yes, Giants has a typo in the state
 		if self.baleWrapper.spec_baleWrapper.baleWrapperState == BaleWrapper.STATE_WRAPPER_FINSIHED then
-			self.baleWrapper:doStateChange(BaleWrapper.CHANGE_WRAPPER_START_DROP_BALE)
+			-- inserts unload threshold after turn so bales don't drop on headlands
+			if self.turnStartedAt and self.realTurnDurationMs then
+				local unloadThreshold = 4000 --delay in msecs, 4 secs seems to work well
+				dropTime = 	self.turnStartedAt + self.realTurnDurationMs + unloadThreshold
+			else
+				dropTime = 0 --avoids problems in case of condition variables not existing / empty e.g. before the first turn
+			end
+			if self.vehicle.timer  > dropTime then
+				self.baleWrapper:doStateChange(BaleWrapper.CHANGE_WRAPPER_START_DROP_BALE)
+			end
+
 		end
 	end
 	BalerAIDriver.driveFieldwork(self)

FieldworkAIDriver.lua

@@ -667,6 +667,7 @@ function FieldworkAIDriver:measureTurnTime()
 		if self.turnStartedAt then
 			-- use sliding average to smooth jumps
 			self.turnDurationMs = (self.turnDurationMs + self.vehicle.timer - self.turnStartedAt) / 2
+			self.realTurnDurationMs = self.vehicle.timer - self.turnStartedAt
 			self:debug('Measured turn duration is %.0f ms', self.turnDurationMs)
 		end
 	elseif not self.turnWasDriving and self.turnIsDriving then