fix: row start with plow

Rotate the plow before attempting to lower it.

No change to the row ending. Contrary to what the issue says,
row ending is the same now as it was before the change for
independent implement raise/lowering.

Author: Peter Vaiko

scripts/ai/turns/AITurn.lua

@@ -55,7 +55,7 @@ function AITurn:init(vehicle, driveStrategy, ppc, proximityController, turnConte
     self:addState('WAITING_FOR_PATHFINDER')
     self.vehicle = vehicle
     self.workEndHandler = WorkEndHandler(vehicle, driveStrategy)
-    self.workStartHandler = WorkStartHandler(vehicle, driveStrategy)
+    self.workStartHandler = WorkStartHandler(vehicle, driveStrategy, turnContext)
     self.settings = vehicle:getCpSettings()
     self.turningRadius = AIUtil.getTurningRadius(self.vehicle)
     ---@type PurePursuitController
@@ -643,8 +643,7 @@ end
 function CourseTurn:endTurn(dt)
     -- keep driving on the turn course until we need to lower our implements
     local dz = self.workStartHandler:lowerImplementsAsNeeded(self:getLowerImplementNode(), self.ppc:isReversing())
-    self.driveStrategy:raiseControllerEvent(AIDriveStrategyCourse.onTurnEndProgressEvent,
-            self:getLowerImplementNode(), self.ppc:isReversing(), self.workStartHandler:allLowered(), self.turnContext:isLeftTurn())
+
     if self.workStartHandler:allLowered() then
         if self.ppc:isReversing() then
             self:debug('Turn ending in reverse')
@@ -1008,7 +1007,7 @@ function StartRowOnly:init(vehicle, driveStrategy, ppc, turnContext, startRowCou
     self:addState('IMPLEMENTS_LOWERING')
     self.vehicle = vehicle
     self.settings = vehicle:getCpSettings()
-    self.workStartHandler = WorkStartHandler(vehicle, driveStrategy)
+    self.workStartHandler = WorkStartHandler(vehicle, driveStrategy, turnContext)
     self.turningRadius = AIUtil.getTurningRadius(self.vehicle)
     ---@type AIDriveStrategyFieldWorkCourse
     self.driveStrategy = driveStrategy

scripts/ai/turns/WorkStartHandler.lua

@@ -4,10 +4,11 @@ WorkStartHandler = CpObject()
 
 ---@param vehicle table
 ---@param driveStrategy AIDriveStrategyFieldWorkCourse
-function WorkStartHandler:init(vehicle, driveStrategy)
+function WorkStartHandler:init(vehicle, driveStrategy, turnContext)
     self.logger = Logger('WorkStartHandler', Logger.level.debug, CpDebug.DBG_TURN)
     self.vehicle = vehicle
     self.driveStrategy = driveStrategy
+    self.turnContext = turnContext
     self.settings = vehicle:getCpSettings()
     self.objectsAlreadyLowered = {}
     self.nObjectsAlreadyLowered = 0
@@ -42,7 +43,7 @@ end
 --- same time, once all of them are beyond the work start node.
 ---@return number distance between the work start and the implement furthest to the work start in meters,
 ---<0 when driving forward, nil when driving backwards
-function WorkStartHandler:lowerImplementsAsNeeded(workStartNode, reversing, loweringCheckDistance)
+function WorkStartHandler:lowerImplementsAsNeeded(workStartNode, reversing)
     local function lowerThis(object)
         self.objectsAlreadyLowered[object] = true
         self.nObjectsAlreadyLowered = self.nObjectsAlreadyLowered + 1
@@ -54,6 +55,10 @@ function WorkStartHandler:lowerImplementsAsNeeded(workStartNode, reversing, lowe
     local allShouldBeLowered, dz = true, 0
     for object in pairs(self.objectsToLower) do
         local shouldLowerThis, thisDz = self:shouldLowerThisImplement(object, workStartNode, reversing)
+        -- this must be called before the implement is lowered, for instance to rotate the plow before lowering it.
+        -- ideally, this should all be in the PlowController since it is internal to the plow.
+        self.driveStrategy:raiseControllerEvent(AIDriveStrategyCourse.onTurnEndProgressEvent,
+                workStartNode, reversing, shouldLowerThis, self.turnContext:isLeftTurn())
         if reversing then
             dz = math.max(dz, thisDz)
             allShouldBeLowered = allShouldBeLowered and shouldLowerThis