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WIP rewrite the job stopping logic #800

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4 changes: 4 additions & 0 deletions scripts/ai/controllers/BaleLoaderController.lua
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Original file line numberDiff line numberDiff line change
Expand Up@@ -124,4 +124,8 @@ end
--- This one is not used for the giants baleloaders
function BaleLoaderController:isReadyToLoadNextBale()
return false
end

function BaleLoaderController:onPreFinished()
return self:canBeFolded()
end
20 changes: 15 additions & 5 deletions scripts/ai/controllers/BalerController.lua
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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,7 @@ function BalerController:init(vehicle, baler)
self.slowDownStartSpeed = 20
self.balerSpec = self.baler.spec_baler
self.baleWrapperSpec = self.baler.spec_baleWrapper
self.baleLoaderSpec = self.baler.spec_baleLoader
self.lastDroppedBale = CpTemporaryObject()
self:debug('Baler controller initialized')
local additives = self.balerSpec.additives
Expand DownExpand Up@@ -124,11 +125,20 @@ function BalerController:onStart()
end
end

function BalerController:onFinished(hasFinished)
-- TODO: not working, as this probably needs to be called, before the drive is released.
-- if hasFinished and not self.balerSpec.automaticDrop or not self.balerSpec.platformAutomaticDrop then
-- Baler.actionEventUnloading(self.implement)
-- end
function BalerController:onPreFinished(hasFinished)
if hasFinished then
Baler.actionEventUnloading(self.baler)
if self.balerSpec.platformDropInProgress then
return
end
if self.balerSpec.isBaleUnloading then
return
end
if self.balerSpec.unloadingState ~= Baler.UNLOADING_CLOSED then
return
end
end
return true
end

function BalerController:isThisMyBale(baleObject)
Expand Down
4 changes: 4 additions & 0 deletions scripts/ai/controllers/ImplementController.lua
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Original file line numberDiff line numberDiff line change
Expand Up@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
--- override
end

function ImplementController:onPreFinished()
return true
end

function ImplementController:onFinishRow(isHeadlandTurn)
end

Expand Down
15 changes: 0 additions & 15 deletions scripts/ai/jobs/CpAIJob.lua
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Original file line numberDiff line numberDiff line change
Expand Up@@ -58,14 +58,6 @@ function CpAIJob:setupCpJobParameters(jobParameters)
self.cpJobParameters:validateSettings()
end

--- Is the ai job allowed to finish ?
--- This entry point allowes us to catch giants stop conditions.
---@param message table Stop reason can be used to reverse engineer the cause.
---@return boolean
function CpAIJob:isFinishingAllowed(message)
return true
end

--- Gets the first task to start with.
function CpAIJob:getStartTaskIndex()
if self.currentTaskIndex ~= 0 or self.isDirectStart or self:isTargetReached() then
Expand DownExpand Up@@ -137,12 +129,8 @@ function CpAIJob:stop(aiMessage)
vehicle:deleteAgent()
vehicle:aiJobFinished()
vehicle:resetCpAllActiveInfoTexts()
local driveStrategy = vehicle:getCpDriveStrategy()
if not aiMessage then
self:debug("No valid ai message given!")
if driveStrategy then
driveStrategy:onFinished()
end
AIJob.stop(self, aiMessage)
return
end
Expand All@@ -160,9 +148,6 @@ function CpAIJob:stop(aiMessage)
if event then
SpecializationUtil.raiseEvent(vehicle, event)
end
if driveStrategy then
driveStrategy:onFinished(hasFinished)
end
g_messageCenter:unsubscribeAll(self)
end

Expand Down
23 changes: 0 additions & 23 deletions scripts/ai/jobs/CpAIJobFieldWork.lua
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Original file line numberDiff line numberDiff line change
Expand Up@@ -47,29 +47,6 @@ function CpAIJobFieldWork:setupJobParameters()
self:setupCpJobParameters(CpFieldWorkJobParameters(self))
end

function CpAIJobFieldWork:isFinishingAllowed(message)
local nextTaskIndex = self:getNextTaskIndex()
if message:isa(AIMessageErrorOutOfFill) then
--- At least one implement type needs to be refilled.

local vehicle = self:getVehicle()
local setting = vehicle:getCpSettings().refillOnTheField

if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_DISABLED then
return true
elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
if self.currentTaskIndex == self.fieldWorkTask.taskIndex then
self.fieldWorkTask:setWaitingForRefillingActive()
end
elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
--- TODO_25 Add driving to trailer for refilling here and so on ..
self.fieldWorkTask:skip()
end
return false
end
return CpAIJob.isFinishingAllowed(self, message)
end

---@param vehicle table
---@param mission table
---@param farmId number
Expand Down
94 changes: 88 additions & 6 deletions scripts/ai/strategies/AIDriveStrategyCourse.lua
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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,12 +26,16 @@ AIDriveStrategyCourse.myStates = {
INITIAL = {},
WAITING_FOR_PATHFINDER = {},
WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
PRE_FINISHED = {},
WAITING_FOR_FINISHED = {},
FINISHED = {}
}

--- Implement controller events.
--- TODO_25 a more generic implementation
AIDriveStrategyCourse.onRaisingEvent = "onRaising"
AIDriveStrategyCourse.onLoweringEvent = "onLowering"
AIDriveStrategyCourse.onPreFinishedEvent = "onPreFinished"
AIDriveStrategyCourse.onFinishedEvent = "onFinished"
AIDriveStrategyCourse.onStartEvent = "onStart"
AIDriveStrategyCourse.onStartRefillingEvent = "onStartRefilling"
Expand DownExpand Up@@ -59,6 +63,11 @@ function AIDriveStrategyCourse:init(task, job)

self.currentTask = task
self.job = job
self.stopRequestData = {
reason = nil,
waitForFolding = false,
prepareTimeout = CpTemporaryObject(true)
}
end

function AIDriveStrategyCourse:setCurrentTaskFinished()
Expand DownExpand Up@@ -279,6 +288,10 @@ end

--- Called in the low frequency function for the helper.
function AIDriveStrategyCourse:updateLowFrequencyImplementControllers()
if self:hasFinished() then
--- Small hack so every ai drive strategy waits during finished.
self:setMaxSpeed(0)
end
for _, controller in pairs(self.controllers) do
---@type ImplementController
if controller:isEnabled() then
Expand DownExpand Up@@ -435,8 +448,57 @@ function AIDriveStrategyCourse:update(dt)
self.pathfinderController:update(dt)
self:updatePathfinding()
self:updateInfoTexts()
self:updateFinishing()
end

function AIDriveStrategyCourse:updateFinishing()
local function finishStrategy()
if self.stopRequestData.stopReason then
g_currentMission.aiSystem:stopJob(self.job, self.stopRequestData.stopReason)
return
end
self.currentTask:skip()
end
if self.state == self.states.PRE_FINISHED then
--- Every implement controller gets the chance to
--- prepare for the driver release.
--- For example balers can unload their bales
--- before we can fold them and so on.
local finished = true
for _, controller in ipairs(self.controllers) do
finished = finished and controller:onPreFinished()
end
if finished then
self:debug("Precondition for stopping the strategy are reached.")
self.state = self.states.FINISHED
end
elseif self.state == self.states.FINISHED then
self:raiseControllerEvent(self.onFinishedEvent, self.stopRequestData.waitForFolding)
if self.stopRequestData.waitForFolding then
self:debug("Starting to fold implements and so on...")
self.vehicle:prepareForAIDriving()
self.stopRequestData.prepareTimeout:set(false, 15000)
self.state = self.states.WAITING_FOR_FINISHED
else
finishStrategy()
end
elseif self.state == self.states.WAITING_FOR_FINISHED then
if not self.vehicle:getIsAIPreparingToDrive() or self.stopRequestData.prepareTimeout:get() then
if self.stopRequestData.prepareTimeout:get() then
self:debug("Failed to prepare ai drive, aborting ..")
end
finishStrategy()
end
end
end

--- Job has finished and we are now waiting to release the driver.
---@return boolean
function AIDriveStrategyCourse:hasFinished()
return self.state == self.states.PRE_FINISHED or
self.state == self.states.WAITING_FOR_FINISHED or
self.state == self.states.FINISHED
end

function AIDriveStrategyCourse:getDriveData(dt, vX, vY, vZ)
local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -664,15 +726,35 @@ function AIDriveStrategyCourse:isCloseToCourseStart(distance)
return self.course:getDistanceFromFirstWaypoint(self.ppc:getCurrentWaypointIx()) < distance
end

--- Possiblity to override the vehicle:stopCurrentAIJob(),
--- if for example refilling on the field is active.
function AIDriveStrategyCourse:handleFinishedRequest(stopReason)
--- override
return false
end

--- Event raised when the driver was stopped.
---@param hasFinished boolean|nil flag passed by the info text
function AIDriveStrategyCourse:onFinished(hasFinished)
self:raiseControllerEvent(self.onFinishedEvent, hasFinished)
if hasFinished and self.settings.foldImplementAtEnd:getValue() then
--- Folds implements at the end if the setting is active.
self:debug("Finished with folding implements of the implements.")
self.vehicle:prepareForAIDriving()
---@param stopReason table
function AIDriveStrategyCourse:onFinished(hasFinished, stopReason)
if self:handleFinishedRequest(stopReason) then
--- Stop request ignored
return
end
if self:hasFinished() then
--- Driver is already stopping and still waiting for folding and so on ...
return
end
self:setFinished(hasFinished and self.settings.foldImplementAtEnd:getValue(), stopReason)
end

--- Internal stop request
---@param waitForFolding boolean|nil wait until for the folding and so on ..
---@param stopReason table|nil if nil is given, then the task will be skipped
function AIDriveStrategyCourse:setFinished(waitForFolding, stopReason)
self.stopRequestData.stopReason = stopReason
self.stopRequestData.waitForFolding = waitForFolding
self.state = self.states.PRE_FINISHED
end

--- This is to set the offsets on the course at start, or update those values
Expand Down
21 changes: 19 additions & 2 deletions scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua
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Original file line numberDiff line numberDiff line change
Expand Up@@ -108,11 +108,28 @@ function AIDriveStrategyFieldWorkCourse:prepareForFieldWork()
end

--- Event raised when the driver has finished.
function AIDriveStrategyFieldWorkCourse:onFinished(hasFinished)
AIDriveStrategyCourse.onFinished(self, hasFinished)
function AIDriveStrategyFieldWorkCourse:onFinished(...)
AIDriveStrategyCourse.onFinished(self, ...)
self.remainingTime:reset()
end

function AIDriveStrategyFieldWorkCourse:handleFinishedRequest(stopReason)
--- TODO consolidate this logic in the future ...
if stopReason:isa(AIMessageErrorOutOfFill) then
--- At least one implement type needs to be refilled.
local setting = self.settings.refillOnTheField
if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
self.currentTask:setWaitingForRefillingActive()
return true
elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
--- TODO_25 Add driving to trailer for refilling here and so on ..
self:setFinished(true, nil)
return true
end
end
return false
end

function AIDriveStrategyFieldWorkCourse:update(dt)
AIDriveStrategyCourse.update(self, dt)
if CpDebug:isChannelActive(CpDebug.DBG_TURN, self.vehicle) then
Expand Down
41 changes: 9 additions & 32 deletions scripts/ai/strategies/AIDriveStrategyFindBales.lua
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Original file line numberDiff line numberDiff line change
Expand Up@@ -31,8 +31,7 @@ AIDriveStrategyFindBales.myStates = {
WORKING_ON_BALE = {},
REVERSING_AFTER_PATHFINDER_FAILURE = {},
REVERSING_DUE_TO_OBSTACLE_AHEAD = {},
DRIVING_TO_START_MARKER = {},
WAITING_FOR_IMPLEMENTS_TO_FOLD = {}
DRIVING_TO_START_MARKER = {}
}
--- Offset to apply at the goal marker, so we don't crash with an empty unloader waiting there with the same position.
AIDriveStrategyFindBales.invertedGoalPositionOffset = -4.5
Expand DownExpand Up@@ -85,7 +84,7 @@ function AIDriveStrategyFindBales:collectNextBale()
self:findPathToNextBale()
return
end
self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
self.state = self.states.DRIVING_TO_START_MARKER
end
end

Expand DownExpand Up@@ -314,29 +313,6 @@ function AIDriveStrategyFindBales:getBaleTarget(bale)
return State3D(xb, -zb, CpMathUtil.angleFromGame(yRot))
end

--- Sets the driver as finished, so either a path
--- to the start marker as a park position can be used
--- or the driver stops directly.
function AIDriveStrategyFindBales:setFinished()
if not self:isReadyToFoldImplements() then
-- Waiting until the folding has finished..
self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
return
end
self.vehicle:prepareForAIDriving()
if not self.vehicle:getIsAIReadyToDrive() then
-- Waiting until the folding has finished..
self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
return
end
if self.invertedStartPositionMarkerNode then
self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
self:startPathfindingToStartMarker()
else
self:finishJob()
end
end

--- Finishes the job with the correct stop reason, as
--- the correct reason is needed for a possible AD takeover.
function AIDriveStrategyFindBales:finishJob()
Expand DownExpand Up@@ -566,9 +542,6 @@ function AIDriveStrategyFindBales:getDriveData(dt, vX, vY, vZ)
self:setMaxSpeed(self.settings.reverseSpeed:getValue())
elseif self.state == self.states.DRIVING_TO_START_MARKER then
self:setMaxSpeed(self.settings.fieldSpeed:getValue())
elseif self.state == self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
self:setFinished()
self:setMaxSpeed(0) --- folding
end

local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -685,10 +658,14 @@ function AIDriveStrategyFindBales:update(dt)
self.ppc:getCourse():draw()
end
end
if self.state ~= self.states.DRIVING_TO_START_MARKER and
self.state ~= self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
if self.state ~= self.states.DRIVING_TO_START_MARKER then
if self:areBaleLoadersFull() then
self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
if self.invertedStartPositionMarkerNode then
self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
self:startPathfindingToStartMarker()
else
self:finishJob()
end
end
end
--- Ignores the loaded auto loader bales.
Expand Down
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WIP rewrite the job stopping logic by schwiti6190 · Pull Request #800 · Courseplay/Courseplay_FS25 · GitHub
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WIP rewrite the job stopping logic#800

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WIP rewrite the job stopping logic
#800
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4 changes: 4 additions & 0 deletions
scripts/ai/controllers/BaleLoaderController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -124,4 +124,8 @@ end
--- This one is not used for the giants baleloaders
function BaleLoaderController:isReadyToLoadNextBale()
 return false
end

function BaleLoaderController:onPreFinished()
 return self:canBeFolded()
end

20 changes: 15 additions & 5 deletions
scripts/ai/controllers/BalerController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,7 @@ function BalerController:init(vehicle, baler)
 self.slowDownStartSpeed = 20
 self.balerSpec = self.baler.spec_baler
 self.baleWrapperSpec = self.baler.spec_baleWrapper
 self.baleLoaderSpec = self.baler.spec_baleLoader
 self.lastDroppedBale = CpTemporaryObject()
 self:debug('Baler controller initialized')
 local additives = self.balerSpec.additives
Expand DownExpand Up@@ -124,11 +125,20 @@ function BalerController:onStart()
 end
end

function BalerController:onFinished(hasFinished)
 -- TODO: not working, as this probably needs to be called, before the drive is released.
 -- if hasFinished and not self.balerSpec.automaticDrop or not self.balerSpec.platformAutomaticDrop then
 -- Baler.actionEventUnloading(self.implement)
 -- end
function BalerController:onPreFinished(hasFinished)
 if hasFinished then 
 Baler.actionEventUnloading(self.baler)
 if self.balerSpec.platformDropInProgress then 
 return
 end
 if self.balerSpec.isBaleUnloading then 
 return
 end
 if self.balerSpec.unloadingState ~= Baler.UNLOADING_CLOSED then 
 return
 end
 end
 return true
end

function BalerController:isThisMyBale(baleObject)
Expand Down

4 changes: 4 additions & 0 deletions
scripts/ai/controllers/ImplementController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
 --- override
end

function ImplementController:onPreFinished()
 return true
end

function ImplementController:onFinishRow(isHeadlandTurn)
end

Expand Down

15 changes: 0 additions & 15 deletions
scripts/ai/jobs/CpAIJob.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -58,14 +58,6 @@ function CpAIJob:setupCpJobParameters(jobParameters)
	self.cpJobParameters:validateSettings()
end

--- Is the ai job allowed to finish ?
--- This entry point allowes us to catch giants stop conditions.
---@param message table Stop reason can be used to reverse engineer the cause.
---@return boolean
function CpAIJob:isFinishingAllowed(message)
	return true
end

--- Gets the first task to start with.
function CpAIJob:getStartTaskIndex()
	if self.currentTaskIndex ~= 0 or self.isDirectStart or self:isTargetReached() then
Expand DownExpand Up@@ -137,12 +129,8 @@ function CpAIJob:stop(aiMessage)
	vehicle:deleteAgent()
	vehicle:aiJobFinished()
	vehicle:resetCpAllActiveInfoTexts()
	local driveStrategy = vehicle:getCpDriveStrategy()
	if not aiMessage then 
 self:debug("No valid ai message given!")
 if driveStrategy then
 driveStrategy:onFinished()
 end
 AIJob.stop(self, aiMessage)
 return
	end
Expand All@@ -160,9 +148,6 @@ function CpAIJob:stop(aiMessage)
	if event then
 SpecializationUtil.raiseEvent(vehicle, event)
	end
	if driveStrategy then
 driveStrategy:onFinished(hasFinished)
	end
	g_messageCenter:unsubscribeAll(self)
end

Expand Down

23 changes: 0 additions & 23 deletions
scripts/ai/jobs/CpAIJobFieldWork.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -47,29 +47,6 @@ function CpAIJobFieldWork:setupJobParameters()
 self:setupCpJobParameters(CpFieldWorkJobParameters(self))
end

function CpAIJobFieldWork:isFinishingAllowed(message)
 local nextTaskIndex = self:getNextTaskIndex()
	if message:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.

 local vehicle = self:getVehicle()
 local setting = vehicle:getCpSettings().refillOnTheField

 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_DISABLED then
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 if self.currentTaskIndex == self.fieldWorkTask.taskIndex then
 self.fieldWorkTask:setWaitingForRefillingActive()
 end
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self.fieldWorkTask:skip()
 end
 return false
 end
 return CpAIJob.isFinishingAllowed(self, message)
end

---@param vehicle table
---@param mission table
---@param farmId number
Expand Down

94 changes: 88 additions & 6 deletions
scripts/ai/strategies/AIDriveStrategyCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,12 +26,16 @@ AIDriveStrategyCourse.myStates = {
 INITIAL = {},
 WAITING_FOR_PATHFINDER = {},
 WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
 PRE_FINISHED = {},
 WAITING_FOR_FINISHED = {},
 FINISHED = {}
}

--- Implement controller events.
--- TODO_25 a more generic implementation
AIDriveStrategyCourse.onRaisingEvent = "onRaising"
AIDriveStrategyCourse.onLoweringEvent = "onLowering"
AIDriveStrategyCourse.onPreFinishedEvent = "onPreFinished"
AIDriveStrategyCourse.onFinishedEvent = "onFinished"
AIDriveStrategyCourse.onStartEvent = "onStart"
AIDriveStrategyCourse.onStartRefillingEvent = "onStartRefilling"
Expand DownExpand Up@@ -59,6 +63,11 @@ function AIDriveStrategyCourse:init(task, job)

 self.currentTask = task
 self.job = job
 self.stopRequestData = {
 reason = nil,
 waitForFolding = false,
 prepareTimeout = CpTemporaryObject(true)
 }
end

function AIDriveStrategyCourse:setCurrentTaskFinished()
Expand DownExpand Up@@ -279,6 +288,10 @@ end

--- Called in the low frequency function for the helper.
function AIDriveStrategyCourse:updateLowFrequencyImplementControllers()
 if self:hasFinished() then 
 --- Small hack so every ai drive strategy waits during finished.
 self:setMaxSpeed(0)
 end
 for _, controller in pairs(self.controllers) do
 ---@type ImplementController
 if controller:isEnabled() then
Expand DownExpand Up@@ -435,8 +448,57 @@ function AIDriveStrategyCourse:update(dt)
 self.pathfinderController:update(dt)
 self:updatePathfinding()
 self:updateInfoTexts()
 self:updateFinishing()
end

function AIDriveStrategyCourse:updateFinishing()
 local function finishStrategy()
 if self.stopRequestData.stopReason then 
 g_currentMission.aiSystem:stopJob(self.job, self.stopRequestData.stopReason)
 return
 end
 self.currentTask:skip()
 end
 if self.state == self.states.PRE_FINISHED then
 --- Every implement controller gets the chance to 
 --- prepare for the driver release. 
 --- For example balers can unload their bales
 --- before we can fold them and so on.
 local finished = true
 for _, controller in ipairs(self.controllers) do 
 finished = finished and controller:onPreFinished()
 end
 if finished then 
 self:debug("Precondition for stopping the strategy are reached.")
 self.state = self.states.FINISHED
 end
 elseif self.state == self.states.FINISHED then 
 self:raiseControllerEvent(self.onFinishedEvent, self.stopRequestData.waitForFolding)
 if self.stopRequestData.waitForFolding then
 self:debug("Starting to fold implements and so on...")
 self.vehicle:prepareForAIDriving()
 self.stopRequestData.prepareTimeout:set(false, 15000)
 self.state = self.states.WAITING_FOR_FINISHED
 else 
 finishStrategy()
 end
 elseif self.state == self.states.WAITING_FOR_FINISHED then
 if not self.vehicle:getIsAIPreparingToDrive() or self.stopRequestData.prepareTimeout:get() then
 if self.stopRequestData.prepareTimeout:get() then 
 self:debug("Failed to prepare ai drive, aborting ..")
 end
 finishStrategy()
 end
 end
end

--- Job has finished and we are now waiting to release the driver.
---@return boolean
function AIDriveStrategyCourse:hasFinished()
 return self.state == self.states.PRE_FINISHED or 
 self.state == self.states.WAITING_FOR_FINISHED or
 self.state == self.states.FINISHED
end

function AIDriveStrategyCourse:getDriveData(dt, vX, vY, vZ)
 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -664,15 +726,35 @@ function AIDriveStrategyCourse:isCloseToCourseStart(distance)
 return self.course:getDistanceFromFirstWaypoint(self.ppc:getCurrentWaypointIx()) < distance
end

--- Possiblity to override the vehicle:stopCurrentAIJob(), 
--- if for example refilling on the field is active.
function AIDriveStrategyCourse:handleFinishedRequest(stopReason)
 --- override
 return false
end

--- Event raised when the driver was stopped.
---@param hasFinished boolean|nil flag passed by the info text
function AIDriveStrategyCourse:onFinished(hasFinished)
 self:raiseControllerEvent(self.onFinishedEvent, hasFinished)
 if hasFinished and self.settings.foldImplementAtEnd:getValue() then
 --- Folds implements at the end if the setting is active.
 self:debug("Finished with folding implements of the implements.")
 self.vehicle:prepareForAIDriving()
---@param stopReason table
function AIDriveStrategyCourse:onFinished(hasFinished, stopReason)
 if self:handleFinishedRequest(stopReason) then 
 --- Stop request ignored
 return
 end
 if self:hasFinished() then
 --- Driver is already stopping and still waiting for folding and so on ...
 return
 end
 self:setFinished(hasFinished and self.settings.foldImplementAtEnd:getValue(), stopReason)
end

--- Internal stop request
---@param waitForFolding boolean|nil wait until for the folding and so on ..
---@param stopReason table|nil if nil is given, then the task will be skipped
function AIDriveStrategyCourse:setFinished(waitForFolding, stopReason)
 self.stopRequestData.stopReason = stopReason
 self.stopRequestData.waitForFolding = waitForFolding
 self.state = self.states.PRE_FINISHED
end

--- This is to set the offsets on the course at start, or update those values
Expand Down

21 changes: 19 additions & 2 deletions
scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -108,11 +108,28 @@ function AIDriveStrategyFieldWorkCourse:prepareForFieldWork()
end

--- Event raised when the driver has finished.
function AIDriveStrategyFieldWorkCourse:onFinished(hasFinished)
 AIDriveStrategyCourse.onFinished(self, hasFinished)
function AIDriveStrategyFieldWorkCourse:onFinished(...)
 AIDriveStrategyCourse.onFinished(self, ...)
 self.remainingTime:reset()
end

function AIDriveStrategyFieldWorkCourse:handleFinishedRequest(stopReason)
 --- TODO consolidate this logic in the future ...
 if stopReason:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.
 local setting = self.settings.refillOnTheField
 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 self.currentTask:setWaitingForRefillingActive()
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self:setFinished(true, nil)
 return true
 end
 end
 return false
end

function AIDriveStrategyFieldWorkCourse:update(dt)
 AIDriveStrategyCourse.update(self, dt)
 if CpDebug:isChannelActive(CpDebug.DBG_TURN, self.vehicle) then
Expand Down

41 changes: 9 additions & 32 deletions
scripts/ai/strategies/AIDriveStrategyFindBales.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -31,8 +31,7 @@ AIDriveStrategyFindBales.myStates = {
 WORKING_ON_BALE = {},
 REVERSING_AFTER_PATHFINDER_FAILURE = {},
 REVERSING_DUE_TO_OBSTACLE_AHEAD = {},
 DRIVING_TO_START_MARKER = {},
 WAITING_FOR_IMPLEMENTS_TO_FOLD = {}
 DRIVING_TO_START_MARKER = {}
}
--- Offset to apply at the goal marker, so we don't crash with an empty unloader waiting there with the same position.
AIDriveStrategyFindBales.invertedGoalPositionOffset = -4.5
Expand DownExpand Up@@ -85,7 +84,7 @@ function AIDriveStrategyFindBales:collectNextBale()
 self:findPathToNextBale()
 return
 end
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 self.state = self.states.DRIVING_TO_START_MARKER
 end
end

Expand DownExpand Up@@ -314,29 +313,6 @@ function AIDriveStrategyFindBales:getBaleTarget(bale)
 return State3D(xb, -zb, CpMathUtil.angleFromGame(yRot))
end

--- Sets the driver as finished, so either a path
--- to the start marker as a park position can be used
--- or the driver stops directly.
function AIDriveStrategyFindBales:setFinished()
 if not self:isReadyToFoldImplements() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 self.vehicle:prepareForAIDriving()
 if not self.vehicle:getIsAIReadyToDrive() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else
 self:finishJob()
 end
end

--- Finishes the job with the correct stop reason, as
--- the correct reason is needed for a possible AD takeover.
function AIDriveStrategyFindBales:finishJob()
Expand DownExpand Up@@ -566,9 +542,6 @@ function AIDriveStrategyFindBales:getDriveData(dt, vX, vY, vZ)
 self:setMaxSpeed(self.settings.reverseSpeed:getValue())
 elseif self.state == self.states.DRIVING_TO_START_MARKER then
 self:setMaxSpeed(self.settings.fieldSpeed:getValue())
 elseif self.state == self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 self:setFinished()
 self:setMaxSpeed(0) --- folding
 end

 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -685,10 +658,14 @@ function AIDriveStrategyFindBales:update(dt)
 self.ppc:getCourse():draw()
 end
 end
 if self.state ~= self.states.DRIVING_TO_START_MARKER and
 self.state ~= self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 if self.state ~= self.states.DRIVING_TO_START_MARKER then
 if self:areBaleLoadersFull() then
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else 
 self:finishJob()
 end
 end
 end
 --- Ignores the loaded auto loader bales.
Expand Down
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WIP rewrite the job stopping logic by schwiti6190 · Pull Request #800 · Courseplay/Courseplay_FS25 · GitHub
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WIP rewrite the job stopping logic#800

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WIP rewrite the job stopping logic
#800
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4 changes: 4 additions & 0 deletions
scripts/ai/controllers/BaleLoaderController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -124,4 +124,8 @@ end
--- This one is not used for the giants baleloaders
function BaleLoaderController:isReadyToLoadNextBale()
 return false
end

function BaleLoaderController:onPreFinished()
 return self:canBeFolded()
end

20 changes: 15 additions & 5 deletions
scripts/ai/controllers/BalerController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,7 @@ function BalerController:init(vehicle, baler)
 self.slowDownStartSpeed = 20
 self.balerSpec = self.baler.spec_baler
 self.baleWrapperSpec = self.baler.spec_baleWrapper
 self.baleLoaderSpec = self.baler.spec_baleLoader
 self.lastDroppedBale = CpTemporaryObject()
 self:debug('Baler controller initialized')
 local additives = self.balerSpec.additives
Expand DownExpand Up@@ -124,11 +125,20 @@ function BalerController:onStart()
 end
end

function BalerController:onFinished(hasFinished)
 -- TODO: not working, as this probably needs to be called, before the drive is released.
 -- if hasFinished and not self.balerSpec.automaticDrop or not self.balerSpec.platformAutomaticDrop then
 -- Baler.actionEventUnloading(self.implement)
 -- end
function BalerController:onPreFinished(hasFinished)
 if hasFinished then 
 Baler.actionEventUnloading(self.baler)
 if self.balerSpec.platformDropInProgress then 
 return
 end
 if self.balerSpec.isBaleUnloading then 
 return
 end
 if self.balerSpec.unloadingState ~= Baler.UNLOADING_CLOSED then 
 return
 end
 end
 return true
end

function BalerController:isThisMyBale(baleObject)
Expand Down

4 changes: 4 additions & 0 deletions
scripts/ai/controllers/ImplementController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
 --- override
end

function ImplementController:onPreFinished()
 return true
end

function ImplementController:onFinishRow(isHeadlandTurn)
end

Expand Down

15 changes: 0 additions & 15 deletions
scripts/ai/jobs/CpAIJob.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -58,14 +58,6 @@ function CpAIJob:setupCpJobParameters(jobParameters)
	self.cpJobParameters:validateSettings()
end

--- Is the ai job allowed to finish ?
--- This entry point allowes us to catch giants stop conditions.
---@param message table Stop reason can be used to reverse engineer the cause.
---@return boolean
function CpAIJob:isFinishingAllowed(message)
	return true
end

--- Gets the first task to start with.
function CpAIJob:getStartTaskIndex()
	if self.currentTaskIndex ~= 0 or self.isDirectStart or self:isTargetReached() then
Expand DownExpand Up@@ -137,12 +129,8 @@ function CpAIJob:stop(aiMessage)
	vehicle:deleteAgent()
	vehicle:aiJobFinished()
	vehicle:resetCpAllActiveInfoTexts()
	local driveStrategy = vehicle:getCpDriveStrategy()
	if not aiMessage then 
 self:debug("No valid ai message given!")
 if driveStrategy then
 driveStrategy:onFinished()
 end
 AIJob.stop(self, aiMessage)
 return
	end
Expand All@@ -160,9 +148,6 @@ function CpAIJob:stop(aiMessage)
	if event then
 SpecializationUtil.raiseEvent(vehicle, event)
	end
	if driveStrategy then
 driveStrategy:onFinished(hasFinished)
	end
	g_messageCenter:unsubscribeAll(self)
end

Expand Down

23 changes: 0 additions & 23 deletions
scripts/ai/jobs/CpAIJobFieldWork.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -47,29 +47,6 @@ function CpAIJobFieldWork:setupJobParameters()
 self:setupCpJobParameters(CpFieldWorkJobParameters(self))
end

function CpAIJobFieldWork:isFinishingAllowed(message)
 local nextTaskIndex = self:getNextTaskIndex()
	if message:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.

 local vehicle = self:getVehicle()
 local setting = vehicle:getCpSettings().refillOnTheField

 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_DISABLED then
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 if self.currentTaskIndex == self.fieldWorkTask.taskIndex then
 self.fieldWorkTask:setWaitingForRefillingActive()
 end
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self.fieldWorkTask:skip()
 end
 return false
 end
 return CpAIJob.isFinishingAllowed(self, message)
end

---@param vehicle table
---@param mission table
---@param farmId number
Expand Down

94 changes: 88 additions & 6 deletions
scripts/ai/strategies/AIDriveStrategyCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,12 +26,16 @@ AIDriveStrategyCourse.myStates = {
 INITIAL = {},
 WAITING_FOR_PATHFINDER = {},
 WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
 PRE_FINISHED = {},
 WAITING_FOR_FINISHED = {},
 FINISHED = {}
}

--- Implement controller events.
--- TODO_25 a more generic implementation
AIDriveStrategyCourse.onRaisingEvent = "onRaising"
AIDriveStrategyCourse.onLoweringEvent = "onLowering"
AIDriveStrategyCourse.onPreFinishedEvent = "onPreFinished"
AIDriveStrategyCourse.onFinishedEvent = "onFinished"
AIDriveStrategyCourse.onStartEvent = "onStart"
AIDriveStrategyCourse.onStartRefillingEvent = "onStartRefilling"
Expand DownExpand Up@@ -59,6 +63,11 @@ function AIDriveStrategyCourse:init(task, job)

 self.currentTask = task
 self.job = job
 self.stopRequestData = {
 reason = nil,
 waitForFolding = false,
 prepareTimeout = CpTemporaryObject(true)
 }
end

function AIDriveStrategyCourse:setCurrentTaskFinished()
Expand DownExpand Up@@ -279,6 +288,10 @@ end

--- Called in the low frequency function for the helper.
function AIDriveStrategyCourse:updateLowFrequencyImplementControllers()
 if self:hasFinished() then 
 --- Small hack so every ai drive strategy waits during finished.
 self:setMaxSpeed(0)
 end
 for _, controller in pairs(self.controllers) do
 ---@type ImplementController
 if controller:isEnabled() then
Expand DownExpand Up@@ -435,8 +448,57 @@ function AIDriveStrategyCourse:update(dt)
 self.pathfinderController:update(dt)
 self:updatePathfinding()
 self:updateInfoTexts()
 self:updateFinishing()
end

function AIDriveStrategyCourse:updateFinishing()
 local function finishStrategy()
 if self.stopRequestData.stopReason then 
 g_currentMission.aiSystem:stopJob(self.job, self.stopRequestData.stopReason)
 return
 end
 self.currentTask:skip()
 end
 if self.state == self.states.PRE_FINISHED then
 --- Every implement controller gets the chance to 
 --- prepare for the driver release. 
 --- For example balers can unload their bales
 --- before we can fold them and so on.
 local finished = true
 for _, controller in ipairs(self.controllers) do 
 finished = finished and controller:onPreFinished()
 end
 if finished then 
 self:debug("Precondition for stopping the strategy are reached.")
 self.state = self.states.FINISHED
 end
 elseif self.state == self.states.FINISHED then 
 self:raiseControllerEvent(self.onFinishedEvent, self.stopRequestData.waitForFolding)
 if self.stopRequestData.waitForFolding then
 self:debug("Starting to fold implements and so on...")
 self.vehicle:prepareForAIDriving()
 self.stopRequestData.prepareTimeout:set(false, 15000)
 self.state = self.states.WAITING_FOR_FINISHED
 else 
 finishStrategy()
 end
 elseif self.state == self.states.WAITING_FOR_FINISHED then
 if not self.vehicle:getIsAIPreparingToDrive() or self.stopRequestData.prepareTimeout:get() then
 if self.stopRequestData.prepareTimeout:get() then 
 self:debug("Failed to prepare ai drive, aborting ..")
 end
 finishStrategy()
 end
 end
end

--- Job has finished and we are now waiting to release the driver.
---@return boolean
function AIDriveStrategyCourse:hasFinished()
 return self.state == self.states.PRE_FINISHED or 
 self.state == self.states.WAITING_FOR_FINISHED or
 self.state == self.states.FINISHED
end

function AIDriveStrategyCourse:getDriveData(dt, vX, vY, vZ)
 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -664,15 +726,35 @@ function AIDriveStrategyCourse:isCloseToCourseStart(distance)
 return self.course:getDistanceFromFirstWaypoint(self.ppc:getCurrentWaypointIx()) < distance
end

--- Possiblity to override the vehicle:stopCurrentAIJob(), 
--- if for example refilling on the field is active.
function AIDriveStrategyCourse:handleFinishedRequest(stopReason)
 --- override
 return false
end

--- Event raised when the driver was stopped.
---@param hasFinished boolean|nil flag passed by the info text
function AIDriveStrategyCourse:onFinished(hasFinished)
 self:raiseControllerEvent(self.onFinishedEvent, hasFinished)
 if hasFinished and self.settings.foldImplementAtEnd:getValue() then
 --- Folds implements at the end if the setting is active.
 self:debug("Finished with folding implements of the implements.")
 self.vehicle:prepareForAIDriving()
---@param stopReason table
function AIDriveStrategyCourse:onFinished(hasFinished, stopReason)
 if self:handleFinishedRequest(stopReason) then 
 --- Stop request ignored
 return
 end
 if self:hasFinished() then
 --- Driver is already stopping and still waiting for folding and so on ...
 return
 end
 self:setFinished(hasFinished and self.settings.foldImplementAtEnd:getValue(), stopReason)
end

--- Internal stop request
---@param waitForFolding boolean|nil wait until for the folding and so on ..
---@param stopReason table|nil if nil is given, then the task will be skipped
function AIDriveStrategyCourse:setFinished(waitForFolding, stopReason)
 self.stopRequestData.stopReason = stopReason
 self.stopRequestData.waitForFolding = waitForFolding
 self.state = self.states.PRE_FINISHED
end

--- This is to set the offsets on the course at start, or update those values
Expand Down

21 changes: 19 additions & 2 deletions
scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -108,11 +108,28 @@ function AIDriveStrategyFieldWorkCourse:prepareForFieldWork()
end

--- Event raised when the driver has finished.
function AIDriveStrategyFieldWorkCourse:onFinished(hasFinished)
 AIDriveStrategyCourse.onFinished(self, hasFinished)
function AIDriveStrategyFieldWorkCourse:onFinished(...)
 AIDriveStrategyCourse.onFinished(self, ...)
 self.remainingTime:reset()
end

function AIDriveStrategyFieldWorkCourse:handleFinishedRequest(stopReason)
 --- TODO consolidate this logic in the future ...
 if stopReason:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.
 local setting = self.settings.refillOnTheField
 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 self.currentTask:setWaitingForRefillingActive()
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self:setFinished(true, nil)
 return true
 end
 end
 return false
end

function AIDriveStrategyFieldWorkCourse:update(dt)
 AIDriveStrategyCourse.update(self, dt)
 if CpDebug:isChannelActive(CpDebug.DBG_TURN, self.vehicle) then
Expand Down

41 changes: 9 additions & 32 deletions
scripts/ai/strategies/AIDriveStrategyFindBales.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -31,8 +31,7 @@ AIDriveStrategyFindBales.myStates = {
 WORKING_ON_BALE = {},
 REVERSING_AFTER_PATHFINDER_FAILURE = {},
 REVERSING_DUE_TO_OBSTACLE_AHEAD = {},
 DRIVING_TO_START_MARKER = {},
 WAITING_FOR_IMPLEMENTS_TO_FOLD = {}
 DRIVING_TO_START_MARKER = {}
}
--- Offset to apply at the goal marker, so we don't crash with an empty unloader waiting there with the same position.
AIDriveStrategyFindBales.invertedGoalPositionOffset = -4.5
Expand DownExpand Up@@ -85,7 +84,7 @@ function AIDriveStrategyFindBales:collectNextBale()
 self:findPathToNextBale()
 return
 end
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 self.state = self.states.DRIVING_TO_START_MARKER
 end
end

Expand DownExpand Up@@ -314,29 +313,6 @@ function AIDriveStrategyFindBales:getBaleTarget(bale)
 return State3D(xb, -zb, CpMathUtil.angleFromGame(yRot))
end

--- Sets the driver as finished, so either a path
--- to the start marker as a park position can be used
--- or the driver stops directly.
function AIDriveStrategyFindBales:setFinished()
 if not self:isReadyToFoldImplements() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 self.vehicle:prepareForAIDriving()
 if not self.vehicle:getIsAIReadyToDrive() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else
 self:finishJob()
 end
end

--- Finishes the job with the correct stop reason, as
--- the correct reason is needed for a possible AD takeover.
function AIDriveStrategyFindBales:finishJob()
Expand DownExpand Up@@ -566,9 +542,6 @@ function AIDriveStrategyFindBales:getDriveData(dt, vX, vY, vZ)
 self:setMaxSpeed(self.settings.reverseSpeed:getValue())
 elseif self.state == self.states.DRIVING_TO_START_MARKER then
 self:setMaxSpeed(self.settings.fieldSpeed:getValue())
 elseif self.state == self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 self:setFinished()
 self:setMaxSpeed(0) --- folding
 end

 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -685,10 +658,14 @@ function AIDriveStrategyFindBales:update(dt)
 self.ppc:getCourse():draw()
 end
 end
 if self.state ~= self.states.DRIVING_TO_START_MARKER and
 self.state ~= self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 if self.state ~= self.states.DRIVING_TO_START_MARKER then
 if self:areBaleLoadersFull() then
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else 
 self:finishJob()
 end
 end
 end
 --- Ignores the loaded auto loader bales.
Expand Down
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WIP rewrite the job stopping logic by schwiti6190 · Pull Request #800 · Courseplay/Courseplay_FS25 · GitHub
Skip to content
WIP rewrite the job stopping logic#800

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WIP rewrite the job stopping logic
#800
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4 changes: 4 additions & 0 deletions
scripts/ai/controllers/BaleLoaderController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -124,4 +124,8 @@ end
--- This one is not used for the giants baleloaders
function BaleLoaderController:isReadyToLoadNextBale()
 return false
end

function BaleLoaderController:onPreFinished()
 return self:canBeFolded()
end

20 changes: 15 additions & 5 deletions
scripts/ai/controllers/BalerController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,7 @@ function BalerController:init(vehicle, baler)
 self.slowDownStartSpeed = 20
 self.balerSpec = self.baler.spec_baler
 self.baleWrapperSpec = self.baler.spec_baleWrapper
 self.baleLoaderSpec = self.baler.spec_baleLoader
 self.lastDroppedBale = CpTemporaryObject()
 self:debug('Baler controller initialized')
 local additives = self.balerSpec.additives
Expand DownExpand Up@@ -124,11 +125,20 @@ function BalerController:onStart()
 end
end

function BalerController:onFinished(hasFinished)
 -- TODO: not working, as this probably needs to be called, before the drive is released.
 -- if hasFinished and not self.balerSpec.automaticDrop or not self.balerSpec.platformAutomaticDrop then
 -- Baler.actionEventUnloading(self.implement)
 -- end
function BalerController:onPreFinished(hasFinished)
 if hasFinished then 
 Baler.actionEventUnloading(self.baler)
 if self.balerSpec.platformDropInProgress then 
 return
 end
 if self.balerSpec.isBaleUnloading then 
 return
 end
 if self.balerSpec.unloadingState ~= Baler.UNLOADING_CLOSED then 
 return
 end
 end
 return true
end

function BalerController:isThisMyBale(baleObject)
Expand Down

4 changes: 4 additions & 0 deletions
scripts/ai/controllers/ImplementController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
 --- override
end

function ImplementController:onPreFinished()
 return true
end

function ImplementController:onFinishRow(isHeadlandTurn)
end

Expand Down

15 changes: 0 additions & 15 deletions
scripts/ai/jobs/CpAIJob.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -58,14 +58,6 @@ function CpAIJob:setupCpJobParameters(jobParameters)
	self.cpJobParameters:validateSettings()
end

--- Is the ai job allowed to finish ?
--- This entry point allowes us to catch giants stop conditions.
---@param message table Stop reason can be used to reverse engineer the cause.
---@return boolean
function CpAIJob:isFinishingAllowed(message)
	return true
end

--- Gets the first task to start with.
function CpAIJob:getStartTaskIndex()
	if self.currentTaskIndex ~= 0 or self.isDirectStart or self:isTargetReached() then
Expand DownExpand Up@@ -137,12 +129,8 @@ function CpAIJob:stop(aiMessage)
	vehicle:deleteAgent()
	vehicle:aiJobFinished()
	vehicle:resetCpAllActiveInfoTexts()
	local driveStrategy = vehicle:getCpDriveStrategy()
	if not aiMessage then 
 self:debug("No valid ai message given!")
 if driveStrategy then
 driveStrategy:onFinished()
 end
 AIJob.stop(self, aiMessage)
 return
	end
Expand All@@ -160,9 +148,6 @@ function CpAIJob:stop(aiMessage)
	if event then
 SpecializationUtil.raiseEvent(vehicle, event)
	end
	if driveStrategy then
 driveStrategy:onFinished(hasFinished)
	end
	g_messageCenter:unsubscribeAll(self)
end

Expand Down

23 changes: 0 additions & 23 deletions
scripts/ai/jobs/CpAIJobFieldWork.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -47,29 +47,6 @@ function CpAIJobFieldWork:setupJobParameters()
 self:setupCpJobParameters(CpFieldWorkJobParameters(self))
end

function CpAIJobFieldWork:isFinishingAllowed(message)
 local nextTaskIndex = self:getNextTaskIndex()
	if message:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.

 local vehicle = self:getVehicle()
 local setting = vehicle:getCpSettings().refillOnTheField

 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_DISABLED then
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 if self.currentTaskIndex == self.fieldWorkTask.taskIndex then
 self.fieldWorkTask:setWaitingForRefillingActive()
 end
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self.fieldWorkTask:skip()
 end
 return false
 end
 return CpAIJob.isFinishingAllowed(self, message)
end

---@param vehicle table
---@param mission table
---@param farmId number
Expand Down

94 changes: 88 additions & 6 deletions
scripts/ai/strategies/AIDriveStrategyCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,12 +26,16 @@ AIDriveStrategyCourse.myStates = {
 INITIAL = {},
 WAITING_FOR_PATHFINDER = {},
 WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
 PRE_FINISHED = {},
 WAITING_FOR_FINISHED = {},
 FINISHED = {}
}

--- Implement controller events.
--- TODO_25 a more generic implementation
AIDriveStrategyCourse.onRaisingEvent = "onRaising"
AIDriveStrategyCourse.onLoweringEvent = "onLowering"
AIDriveStrategyCourse.onPreFinishedEvent = "onPreFinished"
AIDriveStrategyCourse.onFinishedEvent = "onFinished"
AIDriveStrategyCourse.onStartEvent = "onStart"
AIDriveStrategyCourse.onStartRefillingEvent = "onStartRefilling"
Expand DownExpand Up@@ -59,6 +63,11 @@ function AIDriveStrategyCourse:init(task, job)

 self.currentTask = task
 self.job = job
 self.stopRequestData = {
 reason = nil,
 waitForFolding = false,
 prepareTimeout = CpTemporaryObject(true)
 }
end

function AIDriveStrategyCourse:setCurrentTaskFinished()
Expand DownExpand Up@@ -279,6 +288,10 @@ end

--- Called in the low frequency function for the helper.
function AIDriveStrategyCourse:updateLowFrequencyImplementControllers()
 if self:hasFinished() then 
 --- Small hack so every ai drive strategy waits during finished.
 self:setMaxSpeed(0)
 end
 for _, controller in pairs(self.controllers) do
 ---@type ImplementController
 if controller:isEnabled() then
Expand DownExpand Up@@ -435,8 +448,57 @@ function AIDriveStrategyCourse:update(dt)
 self.pathfinderController:update(dt)
 self:updatePathfinding()
 self:updateInfoTexts()
 self:updateFinishing()
end

function AIDriveStrategyCourse:updateFinishing()
 local function finishStrategy()
 if self.stopRequestData.stopReason then 
 g_currentMission.aiSystem:stopJob(self.job, self.stopRequestData.stopReason)
 return
 end
 self.currentTask:skip()
 end
 if self.state == self.states.PRE_FINISHED then
 --- Every implement controller gets the chance to 
 --- prepare for the driver release. 
 --- For example balers can unload their bales
 --- before we can fold them and so on.
 local finished = true
 for _, controller in ipairs(self.controllers) do 
 finished = finished and controller:onPreFinished()
 end
 if finished then 
 self:debug("Precondition for stopping the strategy are reached.")
 self.state = self.states.FINISHED
 end
 elseif self.state == self.states.FINISHED then 
 self:raiseControllerEvent(self.onFinishedEvent, self.stopRequestData.waitForFolding)
 if self.stopRequestData.waitForFolding then
 self:debug("Starting to fold implements and so on...")
 self.vehicle:prepareForAIDriving()
 self.stopRequestData.prepareTimeout:set(false, 15000)
 self.state = self.states.WAITING_FOR_FINISHED
 else 
 finishStrategy()
 end
 elseif self.state == self.states.WAITING_FOR_FINISHED then
 if not self.vehicle:getIsAIPreparingToDrive() or self.stopRequestData.prepareTimeout:get() then
 if self.stopRequestData.prepareTimeout:get() then 
 self:debug("Failed to prepare ai drive, aborting ..")
 end
 finishStrategy()
 end
 end
end

--- Job has finished and we are now waiting to release the driver.
---@return boolean
function AIDriveStrategyCourse:hasFinished()
 return self.state == self.states.PRE_FINISHED or 
 self.state == self.states.WAITING_FOR_FINISHED or
 self.state == self.states.FINISHED
end

function AIDriveStrategyCourse:getDriveData(dt, vX, vY, vZ)
 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -664,15 +726,35 @@ function AIDriveStrategyCourse:isCloseToCourseStart(distance)
 return self.course:getDistanceFromFirstWaypoint(self.ppc:getCurrentWaypointIx()) < distance
end

--- Possiblity to override the vehicle:stopCurrentAIJob(), 
--- if for example refilling on the field is active.
function AIDriveStrategyCourse:handleFinishedRequest(stopReason)
 --- override
 return false
end

--- Event raised when the driver was stopped.
---@param hasFinished boolean|nil flag passed by the info text
function AIDriveStrategyCourse:onFinished(hasFinished)
 self:raiseControllerEvent(self.onFinishedEvent, hasFinished)
 if hasFinished and self.settings.foldImplementAtEnd:getValue() then
 --- Folds implements at the end if the setting is active.
 self:debug("Finished with folding implements of the implements.")
 self.vehicle:prepareForAIDriving()
---@param stopReason table
function AIDriveStrategyCourse:onFinished(hasFinished, stopReason)
 if self:handleFinishedRequest(stopReason) then 
 --- Stop request ignored
 return
 end
 if self:hasFinished() then
 --- Driver is already stopping and still waiting for folding and so on ...
 return
 end
 self:setFinished(hasFinished and self.settings.foldImplementAtEnd:getValue(), stopReason)
end

--- Internal stop request
---@param waitForFolding boolean|nil wait until for the folding and so on ..
---@param stopReason table|nil if nil is given, then the task will be skipped
function AIDriveStrategyCourse:setFinished(waitForFolding, stopReason)
 self.stopRequestData.stopReason = stopReason
 self.stopRequestData.waitForFolding = waitForFolding
 self.state = self.states.PRE_FINISHED
end

--- This is to set the offsets on the course at start, or update those values
Expand Down

21 changes: 19 additions & 2 deletions
scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -108,11 +108,28 @@ function AIDriveStrategyFieldWorkCourse:prepareForFieldWork()
end

--- Event raised when the driver has finished.
function AIDriveStrategyFieldWorkCourse:onFinished(hasFinished)
 AIDriveStrategyCourse.onFinished(self, hasFinished)
function AIDriveStrategyFieldWorkCourse:onFinished(...)
 AIDriveStrategyCourse.onFinished(self, ...)
 self.remainingTime:reset()
end

function AIDriveStrategyFieldWorkCourse:handleFinishedRequest(stopReason)
 --- TODO consolidate this logic in the future ...
 if stopReason:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.
 local setting = self.settings.refillOnTheField
 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 self.currentTask:setWaitingForRefillingActive()
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self:setFinished(true, nil)
 return true
 end
 end
 return false
end

function AIDriveStrategyFieldWorkCourse:update(dt)
 AIDriveStrategyCourse.update(self, dt)
 if CpDebug:isChannelActive(CpDebug.DBG_TURN, self.vehicle) then
Expand Down

41 changes: 9 additions & 32 deletions
scripts/ai/strategies/AIDriveStrategyFindBales.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -31,8 +31,7 @@ AIDriveStrategyFindBales.myStates = {
 WORKING_ON_BALE = {},
 REVERSING_AFTER_PATHFINDER_FAILURE = {},
 REVERSING_DUE_TO_OBSTACLE_AHEAD = {},
 DRIVING_TO_START_MARKER = {},
 WAITING_FOR_IMPLEMENTS_TO_FOLD = {}
 DRIVING_TO_START_MARKER = {}
}
--- Offset to apply at the goal marker, so we don't crash with an empty unloader waiting there with the same position.
AIDriveStrategyFindBales.invertedGoalPositionOffset = -4.5
Expand DownExpand Up@@ -85,7 +84,7 @@ function AIDriveStrategyFindBales:collectNextBale()
 self:findPathToNextBale()
 return
 end
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 self.state = self.states.DRIVING_TO_START_MARKER
 end
end

Expand DownExpand Up@@ -314,29 +313,6 @@ function AIDriveStrategyFindBales:getBaleTarget(bale)
 return State3D(xb, -zb, CpMathUtil.angleFromGame(yRot))
end

--- Sets the driver as finished, so either a path
--- to the start marker as a park position can be used
--- or the driver stops directly.
function AIDriveStrategyFindBales:setFinished()
 if not self:isReadyToFoldImplements() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 self.vehicle:prepareForAIDriving()
 if not self.vehicle:getIsAIReadyToDrive() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else
 self:finishJob()
 end
end

--- Finishes the job with the correct stop reason, as
--- the correct reason is needed for a possible AD takeover.
function AIDriveStrategyFindBales:finishJob()
Expand DownExpand Up@@ -566,9 +542,6 @@ function AIDriveStrategyFindBales:getDriveData(dt, vX, vY, vZ)
 self:setMaxSpeed(self.settings.reverseSpeed:getValue())
 elseif self.state == self.states.DRIVING_TO_START_MARKER then
 self:setMaxSpeed(self.settings.fieldSpeed:getValue())
 elseif self.state == self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 self:setFinished()
 self:setMaxSpeed(0) --- folding
 end

 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -685,10 +658,14 @@ function AIDriveStrategyFindBales:update(dt)
 self.ppc:getCourse():draw()
 end
 end
 if self.state ~= self.states.DRIVING_TO_START_MARKER and
 self.state ~= self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 if self.state ~= self.states.DRIVING_TO_START_MARKER then
 if self:areBaleLoadersFull() then
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else 
 self:finishJob()
 end
 end
 end
 --- Ignores the loaded auto loader bales.
Expand Down
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
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try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '
WIP rewrite the job stopping logic by schwiti6190 · Pull Request #800 · Courseplay/Courseplay_FS25 · GitHub
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WIP rewrite the job stopping logic
#800
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4 changes: 4 additions & 0 deletions
scripts/ai/controllers/BaleLoaderController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -124,4 +124,8 @@ end
--- This one is not used for the giants baleloaders
function BaleLoaderController:isReadyToLoadNextBale()
 return false
end

function BaleLoaderController:onPreFinished()
 return self:canBeFolded()
end

20 changes: 15 additions & 5 deletions
scripts/ai/controllers/BalerController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,7 @@ function BalerController:init(vehicle, baler)
 self.slowDownStartSpeed = 20
 self.balerSpec = self.baler.spec_baler
 self.baleWrapperSpec = self.baler.spec_baleWrapper
 self.baleLoaderSpec = self.baler.spec_baleLoader
 self.lastDroppedBale = CpTemporaryObject()
 self:debug('Baler controller initialized')
 local additives = self.balerSpec.additives
Expand DownExpand Up@@ -124,11 +125,20 @@ function BalerController:onStart()
 end
end

function BalerController:onFinished(hasFinished)
 -- TODO: not working, as this probably needs to be called, before the drive is released.
 -- if hasFinished and not self.balerSpec.automaticDrop or not self.balerSpec.platformAutomaticDrop then
 -- Baler.actionEventUnloading(self.implement)
 -- end
function BalerController:onPreFinished(hasFinished)
 if hasFinished then 
 Baler.actionEventUnloading(self.baler)
 if self.balerSpec.platformDropInProgress then 
 return
 end
 if self.balerSpec.isBaleUnloading then 
 return
 end
 if self.balerSpec.unloadingState ~= Baler.UNLOADING_CLOSED then 
 return
 end
 end
 return true
end

function BalerController:isThisMyBale(baleObject)
Expand Down

4 changes: 4 additions & 0 deletions
scripts/ai/controllers/ImplementController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
 --- override
end

function ImplementController:onPreFinished()
 return true
end

function ImplementController:onFinishRow(isHeadlandTurn)
end

Expand Down

15 changes: 0 additions & 15 deletions
scripts/ai/jobs/CpAIJob.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -58,14 +58,6 @@ function CpAIJob:setupCpJobParameters(jobParameters)
	self.cpJobParameters:validateSettings()
end

--- Is the ai job allowed to finish ?
--- This entry point allowes us to catch giants stop conditions.
---@param message table Stop reason can be used to reverse engineer the cause.
---@return boolean
function CpAIJob:isFinishingAllowed(message)
	return true
end

--- Gets the first task to start with.
function CpAIJob:getStartTaskIndex()
	if self.currentTaskIndex ~= 0 or self.isDirectStart or self:isTargetReached() then
Expand DownExpand Up@@ -137,12 +129,8 @@ function CpAIJob:stop(aiMessage)
	vehicle:deleteAgent()
	vehicle:aiJobFinished()
	vehicle:resetCpAllActiveInfoTexts()
	local driveStrategy = vehicle:getCpDriveStrategy()
	if not aiMessage then 
 self:debug("No valid ai message given!")
 if driveStrategy then
 driveStrategy:onFinished()
 end
 AIJob.stop(self, aiMessage)
 return
	end
Expand All@@ -160,9 +148,6 @@ function CpAIJob:stop(aiMessage)
	if event then
 SpecializationUtil.raiseEvent(vehicle, event)
	end
	if driveStrategy then
 driveStrategy:onFinished(hasFinished)
	end
	g_messageCenter:unsubscribeAll(self)
end

Expand Down

23 changes: 0 additions & 23 deletions
scripts/ai/jobs/CpAIJobFieldWork.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -47,29 +47,6 @@ function CpAIJobFieldWork:setupJobParameters()
 self:setupCpJobParameters(CpFieldWorkJobParameters(self))
end

function CpAIJobFieldWork:isFinishingAllowed(message)
 local nextTaskIndex = self:getNextTaskIndex()
	if message:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.

 local vehicle = self:getVehicle()
 local setting = vehicle:getCpSettings().refillOnTheField

 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_DISABLED then
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 if self.currentTaskIndex == self.fieldWorkTask.taskIndex then
 self.fieldWorkTask:setWaitingForRefillingActive()
 end
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self.fieldWorkTask:skip()
 end
 return false
 end
 return CpAIJob.isFinishingAllowed(self, message)
end

---@param vehicle table
---@param mission table
---@param farmId number
Expand Down

94 changes: 88 additions & 6 deletions
scripts/ai/strategies/AIDriveStrategyCourse.lua

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -26,12 +26,16 @@ AIDriveStrategyCourse.myStates = {
 INITIAL = {},
 WAITING_FOR_PATHFINDER = {},
 WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
 PRE_FINISHED = {},
 WAITING_FOR_FINISHED = {},
 FINISHED = {}
}

--- Implement controller events.
--- TODO_25 a more generic implementation
AIDriveStrategyCourse.onRaisingEvent = "onRaising"
AIDriveStrategyCourse.onLoweringEvent = "onLowering"
AIDriveStrategyCourse.onPreFinishedEvent = "onPreFinished"
AIDriveStrategyCourse.onFinishedEvent = "onFinished"
AIDriveStrategyCourse.onStartEvent = "onStart"
AIDriveStrategyCourse.onStartRefillingEvent = "onStartRefilling"
Expand DownExpand Up@@ -59,6 +63,11 @@ function AIDriveStrategyCourse:init(task, job)

 self.currentTask = task
 self.job = job
 self.stopRequestData = {
 reason = nil,
 waitForFolding = false,
 prepareTimeout = CpTemporaryObject(true)
 }
end

function AIDriveStrategyCourse:setCurrentTaskFinished()
Expand DownExpand Up@@ -279,6 +288,10 @@ end

--- Called in the low frequency function for the helper.
function AIDriveStrategyCourse:updateLowFrequencyImplementControllers()
 if self:hasFinished() then 
 --- Small hack so every ai drive strategy waits during finished.
 self:setMaxSpeed(0)
 end
 for _, controller in pairs(self.controllers) do
 ---@type ImplementController
 if controller:isEnabled() then
Expand DownExpand Up@@ -435,8 +448,57 @@ function AIDriveStrategyCourse:update(dt)
 self.pathfinderController:update(dt)
 self:updatePathfinding()
 self:updateInfoTexts()
 self:updateFinishing()
end

function AIDriveStrategyCourse:updateFinishing()
 local function finishStrategy()
 if self.stopRequestData.stopReason then 
 g_currentMission.aiSystem:stopJob(self.job, self.stopRequestData.stopReason)
 return
 end
 self.currentTask:skip()
 end
 if self.state == self.states.PRE_FINISHED then
 --- Every implement controller gets the chance to 
 --- prepare for the driver release. 
 --- For example balers can unload their bales
 --- before we can fold them and so on.
 local finished = true
 for _, controller in ipairs(self.controllers) do 
 finished = finished and controller:onPreFinished()
 end
 if finished then 
 self:debug("Precondition for stopping the strategy are reached.")
 self.state = self.states.FINISHED
 end
 elseif self.state == self.states.FINISHED then 
 self:raiseControllerEvent(self.onFinishedEvent, self.stopRequestData.waitForFolding)
 if self.stopRequestData.waitForFolding then
 self:debug("Starting to fold implements and so on...")
 self.vehicle:prepareForAIDriving()
 self.stopRequestData.prepareTimeout:set(false, 15000)
 self.state = self.states.WAITING_FOR_FINISHED
 else 
 finishStrategy()
 end
 elseif self.state == self.states.WAITING_FOR_FINISHED then
 if not self.vehicle:getIsAIPreparingToDrive() or self.stopRequestData.prepareTimeout:get() then
 if self.stopRequestData.prepareTimeout:get() then 
 self:debug("Failed to prepare ai drive, aborting ..")
 end
 finishStrategy()
 end
 end
end

--- Job has finished and we are now waiting to release the driver.
---@return boolean
function AIDriveStrategyCourse:hasFinished()
 return self.state == self.states.PRE_FINISHED or 
 self.state == self.states.WAITING_FOR_FINISHED or
 self.state == self.states.FINISHED
end

function AIDriveStrategyCourse:getDriveData(dt, vX, vY, vZ)
 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -664,15 +726,35 @@ function AIDriveStrategyCourse:isCloseToCourseStart(distance)
 return self.course:getDistanceFromFirstWaypoint(self.ppc:getCurrentWaypointIx()) < distance
end

--- Possiblity to override the vehicle:stopCurrentAIJob(), 
--- if for example refilling on the field is active.
function AIDriveStrategyCourse:handleFinishedRequest(stopReason)
 --- override
 return false
end

--- Event raised when the driver was stopped.
---@param hasFinished boolean|nil flag passed by the info text
function AIDriveStrategyCourse:onFinished(hasFinished)
 self:raiseControllerEvent(self.onFinishedEvent, hasFinished)
 if hasFinished and self.settings.foldImplementAtEnd:getValue() then
 --- Folds implements at the end if the setting is active.
 self:debug("Finished with folding implements of the implements.")
 self.vehicle:prepareForAIDriving()
---@param stopReason table
function AIDriveStrategyCourse:onFinished(hasFinished, stopReason)
 if self:handleFinishedRequest(stopReason) then 
 --- Stop request ignored
 return
 end
 if self:hasFinished() then
 --- Driver is already stopping and still waiting for folding and so on ...
 return
 end
 self:setFinished(hasFinished and self.settings.foldImplementAtEnd:getValue(), stopReason)
end

--- Internal stop request
---@param waitForFolding boolean|nil wait until for the folding and so on ..
---@param stopReason table|nil if nil is given, then the task will be skipped
function AIDriveStrategyCourse:setFinished(waitForFolding, stopReason)
 self.stopRequestData.stopReason = stopReason
 self.stopRequestData.waitForFolding = waitForFolding
 self.state = self.states.PRE_FINISHED
end

--- This is to set the offsets on the course at start, or update those values
Expand Down

21 changes: 19 additions & 2 deletions
scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -108,11 +108,28 @@ function AIDriveStrategyFieldWorkCourse:prepareForFieldWork()
end

--- Event raised when the driver has finished.
function AIDriveStrategyFieldWorkCourse:onFinished(hasFinished)
 AIDriveStrategyCourse.onFinished(self, hasFinished)
function AIDriveStrategyFieldWorkCourse:onFinished(...)
 AIDriveStrategyCourse.onFinished(self, ...)
 self.remainingTime:reset()
end

function AIDriveStrategyFieldWorkCourse:handleFinishedRequest(stopReason)
 --- TODO consolidate this logic in the future ...
 if stopReason:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.
 local setting = self.settings.refillOnTheField
 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 self.currentTask:setWaitingForRefillingActive()
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self:setFinished(true, nil)
 return true
 end
 end
 return false
end

function AIDriveStrategyFieldWorkCourse:update(dt)
 AIDriveStrategyCourse.update(self, dt)
 if CpDebug:isChannelActive(CpDebug.DBG_TURN, self.vehicle) then
Expand Down

41 changes: 9 additions & 32 deletions
scripts/ai/strategies/AIDriveStrategyFindBales.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -31,8 +31,7 @@ AIDriveStrategyFindBales.myStates = {
 WORKING_ON_BALE = {},
 REVERSING_AFTER_PATHFINDER_FAILURE = {},
 REVERSING_DUE_TO_OBSTACLE_AHEAD = {},
 DRIVING_TO_START_MARKER = {},
 WAITING_FOR_IMPLEMENTS_TO_FOLD = {}
 DRIVING_TO_START_MARKER = {}
}
--- Offset to apply at the goal marker, so we don't crash with an empty unloader waiting there with the same position.
AIDriveStrategyFindBales.invertedGoalPositionOffset = -4.5
Expand DownExpand Up@@ -85,7 +84,7 @@ function AIDriveStrategyFindBales:collectNextBale()
 self:findPathToNextBale()
 return
 end
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 self.state = self.states.DRIVING_TO_START_MARKER
 end
end

Expand DownExpand Up@@ -314,29 +313,6 @@ function AIDriveStrategyFindBales:getBaleTarget(bale)
 return State3D(xb, -zb, CpMathUtil.angleFromGame(yRot))
end

--- Sets the driver as finished, so either a path
--- to the start marker as a park position can be used
--- or the driver stops directly.
function AIDriveStrategyFindBales:setFinished()
 if not self:isReadyToFoldImplements() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 self.vehicle:prepareForAIDriving()
 if not self.vehicle:getIsAIReadyToDrive() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else
 self:finishJob()
 end
end

--- Finishes the job with the correct stop reason, as
--- the correct reason is needed for a possible AD takeover.
function AIDriveStrategyFindBales:finishJob()
Expand DownExpand Up@@ -566,9 +542,6 @@ function AIDriveStrategyFindBales:getDriveData(dt, vX, vY, vZ)
 self:setMaxSpeed(self.settings.reverseSpeed:getValue())
 elseif self.state == self.states.DRIVING_TO_START_MARKER then
 self:setMaxSpeed(self.settings.fieldSpeed:getValue())
 elseif self.state == self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 self:setFinished()
 self:setMaxSpeed(0) --- folding
 end

 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -685,10 +658,14 @@ function AIDriveStrategyFindBales:update(dt)
 self.ppc:getCourse():draw()
 end
 end
 if self.state ~= self.states.DRIVING_TO_START_MARKER and
 self.state ~= self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 if self.state ~= self.states.DRIVING_TO_START_MARKER then
 if self:areBaleLoadersFull() then
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else 
 self:finishJob()
 end
 end
 end
 --- Ignores the loaded auto loader bales.
Expand Down
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var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
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lastUrl = location.href;
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try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
WIP rewrite the job stopping logic by schwiti6190 · Pull Request #800 · Courseplay/Courseplay_FS25 · GitHub
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WIP rewrite the job stopping logic#800

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WIP rewrite the job stopping logic
#800
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4 changes: 4 additions & 0 deletions
scripts/ai/controllers/BaleLoaderController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -124,4 +124,8 @@ end
--- This one is not used for the giants baleloaders
function BaleLoaderController:isReadyToLoadNextBale()
 return false
end

function BaleLoaderController:onPreFinished()
 return self:canBeFolded()
end

20 changes: 15 additions & 5 deletions
scripts/ai/controllers/BalerController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,7 @@ function BalerController:init(vehicle, baler)
 self.slowDownStartSpeed = 20
 self.balerSpec = self.baler.spec_baler
 self.baleWrapperSpec = self.baler.spec_baleWrapper
 self.baleLoaderSpec = self.baler.spec_baleLoader
 self.lastDroppedBale = CpTemporaryObject()
 self:debug('Baler controller initialized')
 local additives = self.balerSpec.additives
Expand DownExpand Up@@ -124,11 +125,20 @@ function BalerController:onStart()
 end
end

function BalerController:onFinished(hasFinished)
 -- TODO: not working, as this probably needs to be called, before the drive is released.
 -- if hasFinished and not self.balerSpec.automaticDrop or not self.balerSpec.platformAutomaticDrop then
 -- Baler.actionEventUnloading(self.implement)
 -- end
function BalerController:onPreFinished(hasFinished)
 if hasFinished then 
 Baler.actionEventUnloading(self.baler)
 if self.balerSpec.platformDropInProgress then 
 return
 end
 if self.balerSpec.isBaleUnloading then 
 return
 end
 if self.balerSpec.unloadingState ~= Baler.UNLOADING_CLOSED then 
 return
 end
 end
 return true
end

function BalerController:isThisMyBale(baleObject)
Expand Down

4 changes: 4 additions & 0 deletions
scripts/ai/controllers/ImplementController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
 --- override
end

function ImplementController:onPreFinished()
 return true
end

function ImplementController:onFinishRow(isHeadlandTurn)
end

Expand Down

15 changes: 0 additions & 15 deletions
scripts/ai/jobs/CpAIJob.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -58,14 +58,6 @@ function CpAIJob:setupCpJobParameters(jobParameters)
	self.cpJobParameters:validateSettings()
end

--- Is the ai job allowed to finish ?
--- This entry point allowes us to catch giants stop conditions.
---@param message table Stop reason can be used to reverse engineer the cause.
---@return boolean
function CpAIJob:isFinishingAllowed(message)
	return true
end

--- Gets the first task to start with.
function CpAIJob:getStartTaskIndex()
	if self.currentTaskIndex ~= 0 or self.isDirectStart or self:isTargetReached() then
Expand DownExpand Up@@ -137,12 +129,8 @@ function CpAIJob:stop(aiMessage)
	vehicle:deleteAgent()
	vehicle:aiJobFinished()
	vehicle:resetCpAllActiveInfoTexts()
	local driveStrategy = vehicle:getCpDriveStrategy()
	if not aiMessage then 
 self:debug("No valid ai message given!")
 if driveStrategy then
 driveStrategy:onFinished()
 end
 AIJob.stop(self, aiMessage)
 return
	end
Expand All@@ -160,9 +148,6 @@ function CpAIJob:stop(aiMessage)
	if event then
 SpecializationUtil.raiseEvent(vehicle, event)
	end
	if driveStrategy then
 driveStrategy:onFinished(hasFinished)
	end
	g_messageCenter:unsubscribeAll(self)
end

Expand Down

23 changes: 0 additions & 23 deletions
scripts/ai/jobs/CpAIJobFieldWork.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -47,29 +47,6 @@ function CpAIJobFieldWork:setupJobParameters()
 self:setupCpJobParameters(CpFieldWorkJobParameters(self))
end

function CpAIJobFieldWork:isFinishingAllowed(message)
 local nextTaskIndex = self:getNextTaskIndex()
	if message:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.

 local vehicle = self:getVehicle()
 local setting = vehicle:getCpSettings().refillOnTheField

 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_DISABLED then
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 if self.currentTaskIndex == self.fieldWorkTask.taskIndex then
 self.fieldWorkTask:setWaitingForRefillingActive()
 end
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self.fieldWorkTask:skip()
 end
 return false
 end
 return CpAIJob.isFinishingAllowed(self, message)
end

---@param vehicle table
---@param mission table
---@param farmId number
Expand Down

94 changes: 88 additions & 6 deletions
scripts/ai/strategies/AIDriveStrategyCourse.lua

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -26,12 +26,16 @@ AIDriveStrategyCourse.myStates = {
 INITIAL = {},
 WAITING_FOR_PATHFINDER = {},
 WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
 PRE_FINISHED = {},
 WAITING_FOR_FINISHED = {},
 FINISHED = {}
}

--- Implement controller events.
--- TODO_25 a more generic implementation
AIDriveStrategyCourse.onRaisingEvent = "onRaising"
AIDriveStrategyCourse.onLoweringEvent = "onLowering"
AIDriveStrategyCourse.onPreFinishedEvent = "onPreFinished"
AIDriveStrategyCourse.onFinishedEvent = "onFinished"
AIDriveStrategyCourse.onStartEvent = "onStart"
AIDriveStrategyCourse.onStartRefillingEvent = "onStartRefilling"
Expand DownExpand Up@@ -59,6 +63,11 @@ function AIDriveStrategyCourse:init(task, job)

 self.currentTask = task
 self.job = job
 self.stopRequestData = {
 reason = nil,
 waitForFolding = false,
 prepareTimeout = CpTemporaryObject(true)
 }
end

function AIDriveStrategyCourse:setCurrentTaskFinished()
Expand DownExpand Up@@ -279,6 +288,10 @@ end

--- Called in the low frequency function for the helper.
function AIDriveStrategyCourse:updateLowFrequencyImplementControllers()
 if self:hasFinished() then 
 --- Small hack so every ai drive strategy waits during finished.
 self:setMaxSpeed(0)
 end
 for _, controller in pairs(self.controllers) do
 ---@type ImplementController
 if controller:isEnabled() then
Expand DownExpand Up@@ -435,8 +448,57 @@ function AIDriveStrategyCourse:update(dt)
 self.pathfinderController:update(dt)
 self:updatePathfinding()
 self:updateInfoTexts()
 self:updateFinishing()
end

function AIDriveStrategyCourse:updateFinishing()
 local function finishStrategy()
 if self.stopRequestData.stopReason then 
 g_currentMission.aiSystem:stopJob(self.job, self.stopRequestData.stopReason)
 return
 end
 self.currentTask:skip()
 end
 if self.state == self.states.PRE_FINISHED then
 --- Every implement controller gets the chance to 
 --- prepare for the driver release. 
 --- For example balers can unload their bales
 --- before we can fold them and so on.
 local finished = true
 for _, controller in ipairs(self.controllers) do 
 finished = finished and controller:onPreFinished()
 end
 if finished then 
 self:debug("Precondition for stopping the strategy are reached.")
 self.state = self.states.FINISHED
 end
 elseif self.state == self.states.FINISHED then 
 self:raiseControllerEvent(self.onFinishedEvent, self.stopRequestData.waitForFolding)
 if self.stopRequestData.waitForFolding then
 self:debug("Starting to fold implements and so on...")
 self.vehicle:prepareForAIDriving()
 self.stopRequestData.prepareTimeout:set(false, 15000)
 self.state = self.states.WAITING_FOR_FINISHED
 else 
 finishStrategy()
 end
 elseif self.state == self.states.WAITING_FOR_FINISHED then
 if not self.vehicle:getIsAIPreparingToDrive() or self.stopRequestData.prepareTimeout:get() then
 if self.stopRequestData.prepareTimeout:get() then 
 self:debug("Failed to prepare ai drive, aborting ..")
 end
 finishStrategy()
 end
 end
end

--- Job has finished and we are now waiting to release the driver.
---@return boolean
function AIDriveStrategyCourse:hasFinished()
 return self.state == self.states.PRE_FINISHED or 
 self.state == self.states.WAITING_FOR_FINISHED or
 self.state == self.states.FINISHED
end

function AIDriveStrategyCourse:getDriveData(dt, vX, vY, vZ)
 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -664,15 +726,35 @@ function AIDriveStrategyCourse:isCloseToCourseStart(distance)
 return self.course:getDistanceFromFirstWaypoint(self.ppc:getCurrentWaypointIx()) < distance
end

--- Possiblity to override the vehicle:stopCurrentAIJob(), 
--- if for example refilling on the field is active.
function AIDriveStrategyCourse:handleFinishedRequest(stopReason)
 --- override
 return false
end

--- Event raised when the driver was stopped.
---@param hasFinished boolean|nil flag passed by the info text
function AIDriveStrategyCourse:onFinished(hasFinished)
 self:raiseControllerEvent(self.onFinishedEvent, hasFinished)
 if hasFinished and self.settings.foldImplementAtEnd:getValue() then
 --- Folds implements at the end if the setting is active.
 self:debug("Finished with folding implements of the implements.")
 self.vehicle:prepareForAIDriving()
---@param stopReason table
function AIDriveStrategyCourse:onFinished(hasFinished, stopReason)
 if self:handleFinishedRequest(stopReason) then 
 --- Stop request ignored
 return
 end
 if self:hasFinished() then
 --- Driver is already stopping and still waiting for folding and so on ...
 return
 end
 self:setFinished(hasFinished and self.settings.foldImplementAtEnd:getValue(), stopReason)
end

--- Internal stop request
---@param waitForFolding boolean|nil wait until for the folding and so on ..
---@param stopReason table|nil if nil is given, then the task will be skipped
function AIDriveStrategyCourse:setFinished(waitForFolding, stopReason)
 self.stopRequestData.stopReason = stopReason
 self.stopRequestData.waitForFolding = waitForFolding
 self.state = self.states.PRE_FINISHED
end

--- This is to set the offsets on the course at start, or update those values
Expand Down

21 changes: 19 additions & 2 deletions
scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -108,11 +108,28 @@ function AIDriveStrategyFieldWorkCourse:prepareForFieldWork()
end

--- Event raised when the driver has finished.
function AIDriveStrategyFieldWorkCourse:onFinished(hasFinished)
 AIDriveStrategyCourse.onFinished(self, hasFinished)
function AIDriveStrategyFieldWorkCourse:onFinished(...)
 AIDriveStrategyCourse.onFinished(self, ...)
 self.remainingTime:reset()
end

function AIDriveStrategyFieldWorkCourse:handleFinishedRequest(stopReason)
 --- TODO consolidate this logic in the future ...
 if stopReason:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.
 local setting = self.settings.refillOnTheField
 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 self.currentTask:setWaitingForRefillingActive()
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self:setFinished(true, nil)
 return true
 end
 end
 return false
end

function AIDriveStrategyFieldWorkCourse:update(dt)
 AIDriveStrategyCourse.update(self, dt)
 if CpDebug:isChannelActive(CpDebug.DBG_TURN, self.vehicle) then
Expand Down

41 changes: 9 additions & 32 deletions
scripts/ai/strategies/AIDriveStrategyFindBales.lua

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -31,8 +31,7 @@ AIDriveStrategyFindBales.myStates = {
 WORKING_ON_BALE = {},
 REVERSING_AFTER_PATHFINDER_FAILURE = {},
 REVERSING_DUE_TO_OBSTACLE_AHEAD = {},
 DRIVING_TO_START_MARKER = {},
 WAITING_FOR_IMPLEMENTS_TO_FOLD = {}
 DRIVING_TO_START_MARKER = {}
}
--- Offset to apply at the goal marker, so we don't crash with an empty unloader waiting there with the same position.
AIDriveStrategyFindBales.invertedGoalPositionOffset = -4.5
Expand DownExpand Up@@ -85,7 +84,7 @@ function AIDriveStrategyFindBales:collectNextBale()
 self:findPathToNextBale()
 return
 end
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 self.state = self.states.DRIVING_TO_START_MARKER
 end
end

Expand DownExpand Up@@ -314,29 +313,6 @@ function AIDriveStrategyFindBales:getBaleTarget(bale)
 return State3D(xb, -zb, CpMathUtil.angleFromGame(yRot))
end

--- Sets the driver as finished, so either a path
--- to the start marker as a park position can be used
--- or the driver stops directly.
function AIDriveStrategyFindBales:setFinished()
 if not self:isReadyToFoldImplements() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 self.vehicle:prepareForAIDriving()
 if not self.vehicle:getIsAIReadyToDrive() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else
 self:finishJob()
 end
end

--- Finishes the job with the correct stop reason, as
--- the correct reason is needed for a possible AD takeover.
function AIDriveStrategyFindBales:finishJob()
Expand DownExpand Up@@ -566,9 +542,6 @@ function AIDriveStrategyFindBales:getDriveData(dt, vX, vY, vZ)
 self:setMaxSpeed(self.settings.reverseSpeed:getValue())
 elseif self.state == self.states.DRIVING_TO_START_MARKER then
 self:setMaxSpeed(self.settings.fieldSpeed:getValue())
 elseif self.state == self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 self:setFinished()
 self:setMaxSpeed(0) --- folding
 end

 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -685,10 +658,14 @@ function AIDriveStrategyFindBales:update(dt)
 self.ppc:getCourse():draw()
 end
 end
 if self.state ~= self.states.DRIVING_TO_START_MARKER and
 self.state ~= self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 if self.state ~= self.states.DRIVING_TO_START_MARKER then
 if self:areBaleLoadersFull() then
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else 
 self:finishJob()
 end
 end
 end
 --- Ignores the loaded auto loader bales.
Expand Down
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Remove or un-stick sticky/fixed headers that block content
(function() {
function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
if (el.style.position === 'fixed' || el.style.position === 'sticky' || getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {
el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
});
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unstick();
var observer = new MutationObserver(unstick);
observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
})();
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
WIP rewrite the job stopping logic by schwiti6190 · Pull Request #800 · Courseplay/Courseplay_FS25 · GitHub
Skip to content
WIP rewrite the job stopping logic#800

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WIP rewrite the job stopping logic
#800
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4 changes: 4 additions & 0 deletions
scripts/ai/controllers/BaleLoaderController.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -124,4 +124,8 @@ end
--- This one is not used for the giants baleloaders
function BaleLoaderController:isReadyToLoadNextBale()
 return false
end

function BaleLoaderController:onPreFinished()
 return self:canBeFolded()
end

20 changes: 15 additions & 5 deletions
scripts/ai/controllers/BalerController.lua

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,7 @@ function BalerController:init(vehicle, baler)
 self.slowDownStartSpeed = 20
 self.balerSpec = self.baler.spec_baler
 self.baleWrapperSpec = self.baler.spec_baleWrapper
 self.baleLoaderSpec = self.baler.spec_baleLoader
 self.lastDroppedBale = CpTemporaryObject()
 self:debug('Baler controller initialized')
 local additives = self.balerSpec.additives
Expand DownExpand Up@@ -124,11 +125,20 @@ function BalerController:onStart()
 end
end

function BalerController:onFinished(hasFinished)
 -- TODO: not working, as this probably needs to be called, before the drive is released.
 -- if hasFinished and not self.balerSpec.automaticDrop or not self.balerSpec.platformAutomaticDrop then
 -- Baler.actionEventUnloading(self.implement)
 -- end
function BalerController:onPreFinished(hasFinished)
 if hasFinished then 
 Baler.actionEventUnloading(self.baler)
 if self.balerSpec.platformDropInProgress then 
 return
 end
 if self.balerSpec.isBaleUnloading then 
 return
 end
 if self.balerSpec.unloadingState ~= Baler.UNLOADING_CLOSED then 
 return
 end
 end
 return true
end

function BalerController:isThisMyBale(baleObject)
Expand Down

4 changes: 4 additions & 0 deletions
scripts/ai/controllers/ImplementController.lua

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
 --- override
end

function ImplementController:onPreFinished()
 return true
end

function ImplementController:onFinishRow(isHeadlandTurn)
end

Expand Down

15 changes: 0 additions & 15 deletions
scripts/ai/jobs/CpAIJob.lua

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -58,14 +58,6 @@ function CpAIJob:setupCpJobParameters(jobParameters)
	self.cpJobParameters:validateSettings()
end

--- Is the ai job allowed to finish ?
--- This entry point allowes us to catch giants stop conditions.
---@param message table Stop reason can be used to reverse engineer the cause.
---@return boolean
function CpAIJob:isFinishingAllowed(message)
	return true
end

--- Gets the first task to start with.
function CpAIJob:getStartTaskIndex()
	if self.currentTaskIndex ~= 0 or self.isDirectStart or self:isTargetReached() then
Expand DownExpand Up@@ -137,12 +129,8 @@ function CpAIJob:stop(aiMessage)
	vehicle:deleteAgent()
	vehicle:aiJobFinished()
	vehicle:resetCpAllActiveInfoTexts()
	local driveStrategy = vehicle:getCpDriveStrategy()
	if not aiMessage then 
 self:debug("No valid ai message given!")
 if driveStrategy then
 driveStrategy:onFinished()
 end
 AIJob.stop(self, aiMessage)
 return
	end
Expand All@@ -160,9 +148,6 @@ function CpAIJob:stop(aiMessage)
	if event then
 SpecializationUtil.raiseEvent(vehicle, event)
	end
	if driveStrategy then
 driveStrategy:onFinished(hasFinished)
	end
	g_messageCenter:unsubscribeAll(self)
end

Expand Down

23 changes: 0 additions & 23 deletions
scripts/ai/jobs/CpAIJobFieldWork.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -47,29 +47,6 @@ function CpAIJobFieldWork:setupJobParameters()
 self:setupCpJobParameters(CpFieldWorkJobParameters(self))
end

function CpAIJobFieldWork:isFinishingAllowed(message)
 local nextTaskIndex = self:getNextTaskIndex()
	if message:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.

 local vehicle = self:getVehicle()
 local setting = vehicle:getCpSettings().refillOnTheField

 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_DISABLED then
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 if self.currentTaskIndex == self.fieldWorkTask.taskIndex then
 self.fieldWorkTask:setWaitingForRefillingActive()
 end
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self.fieldWorkTask:skip()
 end
 return false
 end
 return CpAIJob.isFinishingAllowed(self, message)
end

---@param vehicle table
---@param mission table
---@param farmId number
Expand Down

94 changes: 88 additions & 6 deletions
scripts/ai/strategies/AIDriveStrategyCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -26,12 +26,16 @@ AIDriveStrategyCourse.myStates = {
 INITIAL = {},
 WAITING_FOR_PATHFINDER = {},
 WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
 PRE_FINISHED = {},
 WAITING_FOR_FINISHED = {},
 FINISHED = {}
}

--- Implement controller events.
--- TODO_25 a more generic implementation
AIDriveStrategyCourse.onRaisingEvent = "onRaising"
AIDriveStrategyCourse.onLoweringEvent = "onLowering"
AIDriveStrategyCourse.onPreFinishedEvent = "onPreFinished"
AIDriveStrategyCourse.onFinishedEvent = "onFinished"
AIDriveStrategyCourse.onStartEvent = "onStart"
AIDriveStrategyCourse.onStartRefillingEvent = "onStartRefilling"
Expand DownExpand Up@@ -59,6 +63,11 @@ function AIDriveStrategyCourse:init(task, job)

 self.currentTask = task
 self.job = job
 self.stopRequestData = {
 reason = nil,
 waitForFolding = false,
 prepareTimeout = CpTemporaryObject(true)
 }
end

function AIDriveStrategyCourse:setCurrentTaskFinished()
Expand DownExpand Up@@ -279,6 +288,10 @@ end

--- Called in the low frequency function for the helper.
function AIDriveStrategyCourse:updateLowFrequencyImplementControllers()
 if self:hasFinished() then 
 --- Small hack so every ai drive strategy waits during finished.
 self:setMaxSpeed(0)
 end
 for _, controller in pairs(self.controllers) do
 ---@type ImplementController
 if controller:isEnabled() then
Expand DownExpand Up@@ -435,8 +448,57 @@ function AIDriveStrategyCourse:update(dt)
 self.pathfinderController:update(dt)
 self:updatePathfinding()
 self:updateInfoTexts()
 self:updateFinishing()
end

function AIDriveStrategyCourse:updateFinishing()
 local function finishStrategy()
 if self.stopRequestData.stopReason then 
 g_currentMission.aiSystem:stopJob(self.job, self.stopRequestData.stopReason)
 return
 end
 self.currentTask:skip()
 end
 if self.state == self.states.PRE_FINISHED then
 --- Every implement controller gets the chance to 
 --- prepare for the driver release. 
 --- For example balers can unload their bales
 --- before we can fold them and so on.
 local finished = true
 for _, controller in ipairs(self.controllers) do 
 finished = finished and controller:onPreFinished()
 end
 if finished then 
 self:debug("Precondition for stopping the strategy are reached.")
 self.state = self.states.FINISHED
 end
 elseif self.state == self.states.FINISHED then 
 self:raiseControllerEvent(self.onFinishedEvent, self.stopRequestData.waitForFolding)
 if self.stopRequestData.waitForFolding then
 self:debug("Starting to fold implements and so on...")
 self.vehicle:prepareForAIDriving()
 self.stopRequestData.prepareTimeout:set(false, 15000)
 self.state = self.states.WAITING_FOR_FINISHED
 else 
 finishStrategy()
 end
 elseif self.state == self.states.WAITING_FOR_FINISHED then
 if not self.vehicle:getIsAIPreparingToDrive() or self.stopRequestData.prepareTimeout:get() then
 if self.stopRequestData.prepareTimeout:get() then 
 self:debug("Failed to prepare ai drive, aborting ..")
 end
 finishStrategy()
 end
 end
end

--- Job has finished and we are now waiting to release the driver.
---@return boolean
function AIDriveStrategyCourse:hasFinished()
 return self.state == self.states.PRE_FINISHED or 
 self.state == self.states.WAITING_FOR_FINISHED or
 self.state == self.states.FINISHED
end

function AIDriveStrategyCourse:getDriveData(dt, vX, vY, vZ)
 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -664,15 +726,35 @@ function AIDriveStrategyCourse:isCloseToCourseStart(distance)
 return self.course:getDistanceFromFirstWaypoint(self.ppc:getCurrentWaypointIx()) < distance
end

--- Possiblity to override the vehicle:stopCurrentAIJob(), 
--- if for example refilling on the field is active.
function AIDriveStrategyCourse:handleFinishedRequest(stopReason)
 --- override
 return false
end

--- Event raised when the driver was stopped.
---@param hasFinished boolean|nil flag passed by the info text
function AIDriveStrategyCourse:onFinished(hasFinished)
 self:raiseControllerEvent(self.onFinishedEvent, hasFinished)
 if hasFinished and self.settings.foldImplementAtEnd:getValue() then
 --- Folds implements at the end if the setting is active.
 self:debug("Finished with folding implements of the implements.")
 self.vehicle:prepareForAIDriving()
---@param stopReason table
function AIDriveStrategyCourse:onFinished(hasFinished, stopReason)
 if self:handleFinishedRequest(stopReason) then 
 --- Stop request ignored
 return
 end
 if self:hasFinished() then
 --- Driver is already stopping and still waiting for folding and so on ...
 return
 end
 self:setFinished(hasFinished and self.settings.foldImplementAtEnd:getValue(), stopReason)
end

--- Internal stop request
---@param waitForFolding boolean|nil wait until for the folding and so on ..
---@param stopReason table|nil if nil is given, then the task will be skipped
function AIDriveStrategyCourse:setFinished(waitForFolding, stopReason)
 self.stopRequestData.stopReason = stopReason
 self.stopRequestData.waitForFolding = waitForFolding
 self.state = self.states.PRE_FINISHED
end

--- This is to set the offsets on the course at start, or update those values
Expand Down

21 changes: 19 additions & 2 deletions
scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -108,11 +108,28 @@ function AIDriveStrategyFieldWorkCourse:prepareForFieldWork()
end

--- Event raised when the driver has finished.
function AIDriveStrategyFieldWorkCourse:onFinished(hasFinished)
 AIDriveStrategyCourse.onFinished(self, hasFinished)
function AIDriveStrategyFieldWorkCourse:onFinished(...)
 AIDriveStrategyCourse.onFinished(self, ...)
 self.remainingTime:reset()
end

function AIDriveStrategyFieldWorkCourse:handleFinishedRequest(stopReason)
 --- TODO consolidate this logic in the future ...
 if stopReason:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.
 local setting = self.settings.refillOnTheField
 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 self.currentTask:setWaitingForRefillingActive()
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self:setFinished(true, nil)
 return true
 end
 end
 return false
end

function AIDriveStrategyFieldWorkCourse:update(dt)
 AIDriveStrategyCourse.update(self, dt)
 if CpDebug:isChannelActive(CpDebug.DBG_TURN, self.vehicle) then
Expand Down

41 changes: 9 additions & 32 deletions
scripts/ai/strategies/AIDriveStrategyFindBales.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -31,8 +31,7 @@ AIDriveStrategyFindBales.myStates = {
 WORKING_ON_BALE = {},
 REVERSING_AFTER_PATHFINDER_FAILURE = {},
 REVERSING_DUE_TO_OBSTACLE_AHEAD = {},
 DRIVING_TO_START_MARKER = {},
 WAITING_FOR_IMPLEMENTS_TO_FOLD = {}
 DRIVING_TO_START_MARKER = {}
}
--- Offset to apply at the goal marker, so we don't crash with an empty unloader waiting there with the same position.
AIDriveStrategyFindBales.invertedGoalPositionOffset = -4.5
Expand DownExpand Up@@ -85,7 +84,7 @@ function AIDriveStrategyFindBales:collectNextBale()
 self:findPathToNextBale()
 return
 end
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 self.state = self.states.DRIVING_TO_START_MARKER
 end
end

Expand DownExpand Up@@ -314,29 +313,6 @@ function AIDriveStrategyFindBales:getBaleTarget(bale)
 return State3D(xb, -zb, CpMathUtil.angleFromGame(yRot))
end

--- Sets the driver as finished, so either a path
--- to the start marker as a park position can be used
--- or the driver stops directly.
function AIDriveStrategyFindBales:setFinished()
 if not self:isReadyToFoldImplements() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 self.vehicle:prepareForAIDriving()
 if not self.vehicle:getIsAIReadyToDrive() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else
 self:finishJob()
 end
end

--- Finishes the job with the correct stop reason, as
--- the correct reason is needed for a possible AD takeover.
function AIDriveStrategyFindBales:finishJob()
Expand DownExpand Up@@ -566,9 +542,6 @@ function AIDriveStrategyFindBales:getDriveData(dt, vX, vY, vZ)
 self:setMaxSpeed(self.settings.reverseSpeed:getValue())
 elseif self.state == self.states.DRIVING_TO_START_MARKER then
 self:setMaxSpeed(self.settings.fieldSpeed:getValue())
 elseif self.state == self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 self:setFinished()
 self:setMaxSpeed(0) --- folding
 end

 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -685,10 +658,14 @@ function AIDriveStrategyFindBales:update(dt)
 self.ppc:getCourse():draw()
 end
 end
 if self.state ~= self.states.DRIVING_TO_START_MARKER and
 self.state ~= self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 if self.state ~= self.states.DRIVING_TO_START_MARKER then
 if self:areBaleLoadersFull() then
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else 
 self:finishJob()
 end
 end
 end
 --- Ignores the loaded auto loader bales.
Expand Down
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if (__m === '*' || __re.test(location.href)) {
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var enabled = true;
function applyDarkMode() {
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style = document.createElement('style');
style.id = 'universal-dark-mode-style';
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filter: invert(1) hue-rotate(180deg) !important;
background: #1a1a2e !important;
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filter: invert(1) hue-rotate(180deg) !important;
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filter: invert(1) hue-rotate(180deg) !important;
background: #2d2d44 !important;
border-color: #444 !important;
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if (enabled && !document.getElementById('universal-dark-mode-style')) {
applyDarkMode();
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WIP rewrite the job stopping logic by schwiti6190 · Pull Request #800 · Courseplay/Courseplay_FS25 · GitHub
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WIP rewrite the job stopping logic
#800
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4 changes: 4 additions & 0 deletions
scripts/ai/controllers/BaleLoaderController.lua

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -124,4 +124,8 @@ end
--- This one is not used for the giants baleloaders
function BaleLoaderController:isReadyToLoadNextBale()
 return false
end

function BaleLoaderController:onPreFinished()
 return self:canBeFolded()
end

20 changes: 15 additions & 5 deletions
scripts/ai/controllers/BalerController.lua

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,7 @@ function BalerController:init(vehicle, baler)
 self.slowDownStartSpeed = 20
 self.balerSpec = self.baler.spec_baler
 self.baleWrapperSpec = self.baler.spec_baleWrapper
 self.baleLoaderSpec = self.baler.spec_baleLoader
 self.lastDroppedBale = CpTemporaryObject()
 self:debug('Baler controller initialized')
 local additives = self.balerSpec.additives
Expand DownExpand Up@@ -124,11 +125,20 @@ function BalerController:onStart()
 end
end

function BalerController:onFinished(hasFinished)
 -- TODO: not working, as this probably needs to be called, before the drive is released.
 -- if hasFinished and not self.balerSpec.automaticDrop or not self.balerSpec.platformAutomaticDrop then
 -- Baler.actionEventUnloading(self.implement)
 -- end
function BalerController:onPreFinished(hasFinished)
 if hasFinished then 
 Baler.actionEventUnloading(self.baler)
 if self.balerSpec.platformDropInProgress then 
 return
 end
 if self.balerSpec.isBaleUnloading then 
 return
 end
 if self.balerSpec.unloadingState ~= Baler.UNLOADING_CLOSED then 
 return
 end
 end
 return true
end

function BalerController:isThisMyBale(baleObject)
Expand Down

4 changes: 4 additions & 0 deletions
scripts/ai/controllers/ImplementController.lua

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
 --- override
end

function ImplementController:onPreFinished()
 return true
end

function ImplementController:onFinishRow(isHeadlandTurn)
end

Expand Down

15 changes: 0 additions & 15 deletions
scripts/ai/jobs/CpAIJob.lua

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -58,14 +58,6 @@ function CpAIJob:setupCpJobParameters(jobParameters)
	self.cpJobParameters:validateSettings()
end

--- Is the ai job allowed to finish ?
--- This entry point allowes us to catch giants stop conditions.
---@param message table Stop reason can be used to reverse engineer the cause.
---@return boolean
function CpAIJob:isFinishingAllowed(message)
	return true
end

--- Gets the first task to start with.
function CpAIJob:getStartTaskIndex()
	if self.currentTaskIndex ~= 0 or self.isDirectStart or self:isTargetReached() then
Expand DownExpand Up@@ -137,12 +129,8 @@ function CpAIJob:stop(aiMessage)
	vehicle:deleteAgent()
	vehicle:aiJobFinished()
	vehicle:resetCpAllActiveInfoTexts()
	local driveStrategy = vehicle:getCpDriveStrategy()
	if not aiMessage then 
 self:debug("No valid ai message given!")
 if driveStrategy then
 driveStrategy:onFinished()
 end
 AIJob.stop(self, aiMessage)
 return
	end
Expand All@@ -160,9 +148,6 @@ function CpAIJob:stop(aiMessage)
	if event then
 SpecializationUtil.raiseEvent(vehicle, event)
	end
	if driveStrategy then
 driveStrategy:onFinished(hasFinished)
	end
	g_messageCenter:unsubscribeAll(self)
end

Expand Down

23 changes: 0 additions & 23 deletions
scripts/ai/jobs/CpAIJobFieldWork.lua

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -47,29 +47,6 @@ function CpAIJobFieldWork:setupJobParameters()
 self:setupCpJobParameters(CpFieldWorkJobParameters(self))
end

function CpAIJobFieldWork:isFinishingAllowed(message)
 local nextTaskIndex = self:getNextTaskIndex()
	if message:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.

 local vehicle = self:getVehicle()
 local setting = vehicle:getCpSettings().refillOnTheField

 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_DISABLED then
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 if self.currentTaskIndex == self.fieldWorkTask.taskIndex then
 self.fieldWorkTask:setWaitingForRefillingActive()
 end
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self.fieldWorkTask:skip()
 end
 return false
 end
 return CpAIJob.isFinishingAllowed(self, message)
end

---@param vehicle table
---@param mission table
---@param farmId number
Expand Down

94 changes: 88 additions & 6 deletions
scripts/ai/strategies/AIDriveStrategyCourse.lua

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -26,12 +26,16 @@ AIDriveStrategyCourse.myStates = {
 INITIAL = {},
 WAITING_FOR_PATHFINDER = {},
 WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
 PRE_FINISHED = {},
 WAITING_FOR_FINISHED = {},
 FINISHED = {}
}

--- Implement controller events.
--- TODO_25 a more generic implementation
AIDriveStrategyCourse.onRaisingEvent = "onRaising"
AIDriveStrategyCourse.onLoweringEvent = "onLowering"
AIDriveStrategyCourse.onPreFinishedEvent = "onPreFinished"
AIDriveStrategyCourse.onFinishedEvent = "onFinished"
AIDriveStrategyCourse.onStartEvent = "onStart"
AIDriveStrategyCourse.onStartRefillingEvent = "onStartRefilling"
Expand DownExpand Up@@ -59,6 +63,11 @@ function AIDriveStrategyCourse:init(task, job)

 self.currentTask = task
 self.job = job
 self.stopRequestData = {
 reason = nil,
 waitForFolding = false,
 prepareTimeout = CpTemporaryObject(true)
 }
end

function AIDriveStrategyCourse:setCurrentTaskFinished()
Expand DownExpand Up@@ -279,6 +288,10 @@ end

--- Called in the low frequency function for the helper.
function AIDriveStrategyCourse:updateLowFrequencyImplementControllers()
 if self:hasFinished() then 
 --- Small hack so every ai drive strategy waits during finished.
 self:setMaxSpeed(0)
 end
 for _, controller in pairs(self.controllers) do
 ---@type ImplementController
 if controller:isEnabled() then
Expand DownExpand Up@@ -435,8 +448,57 @@ function AIDriveStrategyCourse:update(dt)
 self.pathfinderController:update(dt)
 self:updatePathfinding()
 self:updateInfoTexts()
 self:updateFinishing()
end

function AIDriveStrategyCourse:updateFinishing()
 local function finishStrategy()
 if self.stopRequestData.stopReason then 
 g_currentMission.aiSystem:stopJob(self.job, self.stopRequestData.stopReason)
 return
 end
 self.currentTask:skip()
 end
 if self.state == self.states.PRE_FINISHED then
 --- Every implement controller gets the chance to 
 --- prepare for the driver release. 
 --- For example balers can unload their bales
 --- before we can fold them and so on.
 local finished = true
 for _, controller in ipairs(self.controllers) do 
 finished = finished and controller:onPreFinished()
 end
 if finished then 
 self:debug("Precondition for stopping the strategy are reached.")
 self.state = self.states.FINISHED
 end
 elseif self.state == self.states.FINISHED then 
 self:raiseControllerEvent(self.onFinishedEvent, self.stopRequestData.waitForFolding)
 if self.stopRequestData.waitForFolding then
 self:debug("Starting to fold implements and so on...")
 self.vehicle:prepareForAIDriving()
 self.stopRequestData.prepareTimeout:set(false, 15000)
 self.state = self.states.WAITING_FOR_FINISHED
 else 
 finishStrategy()
 end
 elseif self.state == self.states.WAITING_FOR_FINISHED then
 if not self.vehicle:getIsAIPreparingToDrive() or self.stopRequestData.prepareTimeout:get() then
 if self.stopRequestData.prepareTimeout:get() then 
 self:debug("Failed to prepare ai drive, aborting ..")
 end
 finishStrategy()
 end
 end
end

--- Job has finished and we are now waiting to release the driver.
---@return boolean
function AIDriveStrategyCourse:hasFinished()
 return self.state == self.states.PRE_FINISHED or 
 self.state == self.states.WAITING_FOR_FINISHED or
 self.state == self.states.FINISHED
end

function AIDriveStrategyCourse:getDriveData(dt, vX, vY, vZ)
 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -664,15 +726,35 @@ function AIDriveStrategyCourse:isCloseToCourseStart(distance)
 return self.course:getDistanceFromFirstWaypoint(self.ppc:getCurrentWaypointIx()) < distance
end

--- Possiblity to override the vehicle:stopCurrentAIJob(), 
--- if for example refilling on the field is active.
function AIDriveStrategyCourse:handleFinishedRequest(stopReason)
 --- override
 return false
end

--- Event raised when the driver was stopped.
---@param hasFinished boolean|nil flag passed by the info text
function AIDriveStrategyCourse:onFinished(hasFinished)
 self:raiseControllerEvent(self.onFinishedEvent, hasFinished)
 if hasFinished and self.settings.foldImplementAtEnd:getValue() then
 --- Folds implements at the end if the setting is active.
 self:debug("Finished with folding implements of the implements.")
 self.vehicle:prepareForAIDriving()
---@param stopReason table
function AIDriveStrategyCourse:onFinished(hasFinished, stopReason)
 if self:handleFinishedRequest(stopReason) then 
 --- Stop request ignored
 return
 end
 if self:hasFinished() then
 --- Driver is already stopping and still waiting for folding and so on ...
 return
 end
 self:setFinished(hasFinished and self.settings.foldImplementAtEnd:getValue(), stopReason)
end

--- Internal stop request
---@param waitForFolding boolean|nil wait until for the folding and so on ..
---@param stopReason table|nil if nil is given, then the task will be skipped
function AIDriveStrategyCourse:setFinished(waitForFolding, stopReason)
 self.stopRequestData.stopReason = stopReason
 self.stopRequestData.waitForFolding = waitForFolding
 self.state = self.states.PRE_FINISHED
end

--- This is to set the offsets on the course at start, or update those values
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21 changes: 19 additions & 2 deletions
scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -108,11 +108,28 @@ function AIDriveStrategyFieldWorkCourse:prepareForFieldWork()
end

--- Event raised when the driver has finished.
function AIDriveStrategyFieldWorkCourse:onFinished(hasFinished)
 AIDriveStrategyCourse.onFinished(self, hasFinished)
function AIDriveStrategyFieldWorkCourse:onFinished(...)
 AIDriveStrategyCourse.onFinished(self, ...)
 self.remainingTime:reset()
end

function AIDriveStrategyFieldWorkCourse:handleFinishedRequest(stopReason)
 --- TODO consolidate this logic in the future ...
 if stopReason:isa(AIMessageErrorOutOfFill) then
 --- At least one implement type needs to be refilled.
 local setting = self.settings.refillOnTheField
 if setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_WAITING then
 self.currentTask:setWaitingForRefillingActive()
 return true
 elseif setting:getValue() == CpVehicleSettings.REFILL_ON_FIELD_ACTIVE then
 --- TODO_25 Add driving to trailer for refilling here and so on ..
 self:setFinished(true, nil)
 return true
 end
 end
 return false
end

function AIDriveStrategyFieldWorkCourse:update(dt)
 AIDriveStrategyCourse.update(self, dt)
 if CpDebug:isChannelActive(CpDebug.DBG_TURN, self.vehicle) then
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41 changes: 9 additions & 32 deletions
scripts/ai/strategies/AIDriveStrategyFindBales.lua

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Original file line numberDiff line numberDiff line change
Expand Up@@ -31,8 +31,7 @@ AIDriveStrategyFindBales.myStates = {
 WORKING_ON_BALE = {},
 REVERSING_AFTER_PATHFINDER_FAILURE = {},
 REVERSING_DUE_TO_OBSTACLE_AHEAD = {},
 DRIVING_TO_START_MARKER = {},
 WAITING_FOR_IMPLEMENTS_TO_FOLD = {}
 DRIVING_TO_START_MARKER = {}
}
--- Offset to apply at the goal marker, so we don't crash with an empty unloader waiting there with the same position.
AIDriveStrategyFindBales.invertedGoalPositionOffset = -4.5
Expand DownExpand Up@@ -85,7 +84,7 @@ function AIDriveStrategyFindBales:collectNextBale()
 self:findPathToNextBale()
 return
 end
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 self.state = self.states.DRIVING_TO_START_MARKER
 end
end

Expand DownExpand Up@@ -314,29 +313,6 @@ function AIDriveStrategyFindBales:getBaleTarget(bale)
 return State3D(xb, -zb, CpMathUtil.angleFromGame(yRot))
end

--- Sets the driver as finished, so either a path
--- to the start marker as a park position can be used
--- or the driver stops directly.
function AIDriveStrategyFindBales:setFinished()
 if not self:isReadyToFoldImplements() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 self.vehicle:prepareForAIDriving()
 if not self.vehicle:getIsAIReadyToDrive() then
 -- Waiting until the folding has finished..
 self:debugSparse("Waiting until an animation has finish, so the driver can be released ..")
 return
 end
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else
 self:finishJob()
 end
end

--- Finishes the job with the correct stop reason, as
--- the correct reason is needed for a possible AD takeover.
function AIDriveStrategyFindBales:finishJob()
Expand DownExpand Up@@ -566,9 +542,6 @@ function AIDriveStrategyFindBales:getDriveData(dt, vX, vY, vZ)
 self:setMaxSpeed(self.settings.reverseSpeed:getValue())
 elseif self.state == self.states.DRIVING_TO_START_MARKER then
 self:setMaxSpeed(self.settings.fieldSpeed:getValue())
 elseif self.state == self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 self:setFinished()
 self:setMaxSpeed(0) --- folding
 end

 local moveForwards = not self.ppc:isReversing()
Expand DownExpand Up@@ -685,10 +658,14 @@ function AIDriveStrategyFindBales:update(dt)
 self.ppc:getCourse():draw()
 end
 end
 if self.state ~= self.states.DRIVING_TO_START_MARKER and
 self.state ~= self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD then
 if self.state ~= self.states.DRIVING_TO_START_MARKER then
 if self:areBaleLoadersFull() then
 self.state = self.states.WAITING_FOR_IMPLEMENTS_TO_FOLD
 if self.invertedStartPositionMarkerNode then
 self:debug("A valid start position is found, so the driver tries to finish at the inverted goal node")
 self:startPathfindingToStartMarker()
 else 
 self:finishJob()
 end
 end
 end
 --- Ignores the loaded auto loader bales.
Expand Down
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