fix: no pocket headland turn for root veggie harvesters

#786

Author: Peter Vaiko

scripts/ai/controllers/CombineController.lua

@@ -128,6 +128,20 @@ function CombineController:isDroppingStrawSwath()
     return self.combineSpec.strawPSenabled
 end
 
+function CombineController:isRootVegetableHarvester()
+    for _, fruitTypeIndex in pairs(CpUtil.getAllRootVegetables()) do
+        local fillUnitIndex = g_fruitTypeManager:getFillTypeIndexByFruitTypeIndex(fruitTypeIndex)
+        self:debug("check if fruitType %s is supported", g_fillTypeManager:getFillTypeNameByIndex(fillUnitIndex))
+        for i, _ in ipairs(self.implement:getFillUnits()) do
+            if self.implement:getFillUnitSupportsFillType(i, fillUnitIndex) then
+                self:debug('This is a root vegetable harvester.')
+                return true
+            end
+        end
+    end
+    return false
+end
+
 --- Is this a towed harvester? We don't want these to make combine headland turns (or make pockets?)
 function CombineController:isTowed()
     return self.isWheeledImplement

scripts/ai/strategies/AIDriveStrategyCombineCourse.lua

@@ -1415,7 +1415,8 @@ function AIDriveStrategyCombineCourse:startTurn(ix)
         elseif self.course:isOnConnectingPath(ix) then
             self:debug('Headland turn but this a connecting track, use normal turn maneuvers.')
             AIDriveStrategyFieldWorkCourse.startTurn(self, ix)
-        elseif self.course:isOnOutermostHeadland(ix) and self:isTurnOnFieldActive() then
+        elseif self.course:isOnOutermostHeadland(ix) and self:isTurnOnFieldActive() and
+                not self.combineController:isRootVegetableHarvester()then
             self:debug('Creating a pocket in the corner so the combine stays on the field during the turn')
             self.aiTurn = CombinePocketHeadlandTurn(self.vehicle, self, self.ppc, self.proximityController, self.turnContext,
                     self.course, self:getWorkWidth())