Merge pull request #397 from Courseplay/fieldpolygon

The big field polygon refactoring

config/InfoTexts.xml

@@ -24,6 +24,7 @@
 	<InfoText name="ERROR_WRONG_MISSION_FRUIT_TYPE" 		text="errorWrongMissionFruitType" class="AIMessageErrorWrongMissionFruitType"/>
 	<InfoText name="ERROR_PALLETS_ARE_FULL" 				text="errorPalletsAreFull" class="pdlc_premiumExpansion.AIMessageErrorPalletsFull"/>
 	<InfoText name="ERROR_PALLETS_ARE_EMPTY" 				text="errorPalletsAreEmpty" class="pdlc_premiumExpansion.AIMessageErrorNoPalletsLoaded"/>
+	<InfoText name="ERROR_TOO_FAR_FROM_FIELD"				text="errorTooFarFromField" class="AIMessageErrorTooFarFromField"/>
 
 	<InfoText name="IS_STUCK"								text="isStuck"/>
 	<InfoText name="BLOCKED_BY_OBJECT"  					text="blockedByObject" class="AIMessageErrorBlockedByObject"/>
@@ -41,4 +42,5 @@
 	<InfoText name="WORK_FINISHED"							text="workFinished"   hasFinished="true" event="onCpFinished" class="AIMessageSuccessFinishedJob"/>
 	<InfoText name="DRIVING_TO_COMBINE"						text="drivingToCombine"/>
 	<InfoText name="DRIVING_TO_SELF_UNLOAD"					text="drivingToSelfUnload"/>
+	<InfoText name="WAITING_FOR_FIELD_BOUNDARY_DETECTION"	text="waitingForFieldBoundaryDetection"/>
 </InfoTexts>

config/MasterTranslations.xml

@@ -47,6 +47,14 @@
 			<Text language="de"><![CDATA[Konnte keinen Kurs generieren. Bitte versuchen es mit anderen Einstellungen.]]></Text>
 			<Text language="en"><![CDATA[Could not generate course. Please try other settings.]]></Text>
 		</Translation>
+		<Translation name="CP_error_field_detection_still_running">
+			<Text language="de"><![CDATA[Felderkennung läuft noch.]]></Text>
+			<Text language="en"><![CDATA[Field detection still running.]]></Text>
+		</Translation>
+		<Translation name="CP_error_field_detection_failed">
+			<Text language="de"><![CDATA[Felderkennung fehlgeschlagen.]]></Text>
+			<Text language="en"><![CDATA[Field detection failed.]]></Text>
+		</Translation>
 		<Translation name="CP_error_not_on_field">
 			<Text language="de"><![CDATA[Ziel ist nicht auf einem Feld.]]></Text>
 			<Text language="en"><![CDATA[Target is not on a field.]]></Text>
@@ -67,10 +75,6 @@
 			<Text language="de"><![CDATA[Feldabladeposition ist zu weit vom Feld entfernt.]]></Text>
 			<Text language="en"><![CDATA[Field unload position is too far away from the field.]]></Text>
 		</Translation>
-		<Translation name="CP_error_vehicle_too_far_away_from_field">
-			<Text language="de"><![CDATA[Fahrzeug ist zu weit vom Feld entfernt.]]></Text>
-			<Text language="en"><![CDATA[Vehicle is too far away from the field.]]></Text>
-		</Translation>
 		<Translation name="CP_error_no_bunkerSilo_found">
 			<Text language="de"><![CDATA[Kein Silo gefunden.]]></Text>
 			<Text language="en"><![CDATA[No silo found.]]></Text>
@@ -385,6 +389,10 @@
 			<Text language="de"><![CDATA[Helfer %s hat die Arbeit gestoppt - Falsche Frucht für die Mission ausgewählt!]]></Text>
 			<Text language="en"><![CDATA[AI worker %s has stopped work unexpectedly - wrong fill type for mission selected!]]></Text>
 		</Translation>
+		<Translation name="CP_ai_messageErrorTooFarFromField">
+			<Text language="de"><![CDATA[Fahrzeug ist zu weit vom Feld entfernt.]]></Text>
+			<Text language="en"><![CDATA[Vehicle is too far away from the field.]]></Text>
+		</Translation>
 	</Category>
 	<Category name="AI fieldwork task descriptions">	
 		<Translation name="CP_ai_taskDescriptionAttachHeader">
@@ -1720,6 +1728,10 @@ The course is saved automatically on closing of the editor and overrides the sel
 			<Text language="de"><![CDATA[ÜLW entladen]]></Text>
 			<Text language="en"><![CDATA[Driving to trailer]]></Text>
 		</Translation>
+		<Translation name="CP_infoTexts_waitingForFieldBoundaryDetection">
+			<Text language="de"><![CDATA[Felderkennung]]></Text>
+			<Text language="en"><![CDATA[Field detection]]></Text>
+		</Translation>
 		<Translation name="CP_infoTexts_outOfMoney">
 			<Text language="de"><![CDATA[Kein Geld mehr]]></Text>
 			<Text language="en"><![CDATA[Out of money]]></Text>

scripts/Course.lua

@@ -76,22 +76,6 @@ function Course:getVehicle()
     return self.vehicle
 end
 
-function Course:setFieldPolygon(polygon)
-    self.fieldPolygon = polygon
-end
-
--- The field polygon used to generate the course
-function Course:getFieldPolygon()
-    local i = 1
-    while self.fieldPolygon == nil and i < self:getNumberOfWaypoints() do
-        CpUtil.debugVehicle(CpDebug.DBG_COURSES, self.vehicle, 'Field polygon not found, regenerating it (%d).', i)
-        local px, _, pz = self:getWaypointPosition(i)
-        self.fieldPolygon = CpFieldUtil.getFieldPolygonAtWorldPosition(px, pz)
-        i = i + 1
-    end
-    return self.fieldPolygon
-end
-
 function Course:getName()
     return self.name
 end

scripts/ai/AIMessages.lua

@@ -54,6 +54,13 @@ function AIMessageErrorWrongMissionFruitType:getI18NText()
 	return g_i18n:getText("CP_ai_messageErrorWrongMissionFruitType")
 end
 
+---@class AIMessageErrorTooFarFromField
+AIMessageErrorTooFarFromField = CpObject(AIMessage, AIMessage.new)
+AIMessageErrorTooFarFromField.name = "CP_ERROR_TOO_FAR_FROM_FIELD"
+function AIMessageErrorTooFarFromField:getI18NText()
+	return g_i18n:getText("CP_ai_messageErrorTooFarFromField")
+end
+
 CpAIMessages = {}
 function CpAIMessages.register()
 	local function register(messageClass)
@@ -67,6 +74,7 @@ function CpAIMessages.register()
 	register(AIMessageErrorCutterNotSupported)
 	register(AIMessageErrorAutomaticCutterAttachNotActive)
 	register(AIMessageErrorWrongMissionFruitType)
+	register(AIMessageErrorTooFarFromField)
 end
 
 --- Another ugly hack, as the giants code to get the message index in mp isn't working ..

scripts/ai/jobs/CpAIJob.lua

@@ -168,6 +168,7 @@ end
 
 --- Updates the parameter values.
 function CpAIJob:applyCurrentState(vehicle, mission, farmId, isDirectStart)
+	-- the only thing this does, is setting self.isDirectStart
 	AIJob.applyCurrentState(self, vehicle, mission, farmId, isDirectStart)
 	self.vehicleParameter:setVehicle(vehicle)
 	if not self.cpJobParameters or not self.cpJobParameters.startPosition then 
@@ -233,6 +234,7 @@ function CpAIJob:setValues()
 end
 
 --- Is the job valid?
+---@param farmId number not used
 function CpAIJob:validate(farmId)
 	--- TODO_25
 	-- self:setParamterValid(true)
@@ -246,6 +248,62 @@ function CpAIJob:validate(farmId)
 	return isValid, errorMessage
 end
 
+--- Start an asynchronous field boundary detection. Results are delivered by the callback
+--- onFieldBoundaryDetectionFinished(vehicle, fieldPolygon, islandPolygons)
+--- If the field position hasn't changed since the last call, the detection is skipped and this returns true.
+--- In that case, the polygon from the previous run is still available from vehicle:cpGetFieldPolygon()
+---@return boolean, boolean, string true if we already have a field boundary false otherwise,
+--- second boolean true if the detection is still running false on error
+--- error message
+function CpAIJob:detectFieldBoundary()
+	local vehicle = self.vehicleParameter:getVehicle()
+
+	local tx, tz = self.cpJobParameters.fieldPosition:getPosition()
+	if tx == nil or tz == nil then
+		return false, false, g_i18n:getText("CP_error_not_on_field")
+	end
+	if vehicle:cpIsFieldBoundaryDetectionRunning() then
+		return false, false, g_i18n:getText("CP_error_field_detection_still_running")
+	end
+	local x, z = vehicle:cpGetFieldPosition()
+	if x == tx and z == tz then
+		self:debug('Field position still at %.1f/%.1f, do not detect field boundary again', tx, tz)
+		return true, false, ''
+	end
+	self:debug('Field position changed to %.1f/%.1f, start field boundary detection', tx, tz)
+	self.foundVines = nil
+
+	vehicle:cpDetectFieldBoundary(tx, tz, self, self.onFieldBoundaryDetectionFinished)
+	-- TODO: return false and nothing, as the detection is still running?
+	return false, true, g_i18n:getText('CP_error_field_detection_still_running')
+end
+
+function CpAIJob:onFieldBoundaryDetectionFinished(vehicle, fieldPolygon, islandPolygons)
+	-- override in the derived classes to handle the detected field boundary
+end
+
+--- If registered, call the field boundary detection finished callback. This is to notify the frame
+--- at the end of the async field detection.
+--- It'll also return the result as a synchronous validate call would, and as the frame expects it, in case
+--- someone calls the registered callback directly from validate()
+---@return boolean isValid, string errorText
+function CpAIJob:callFieldBoundaryDetectionFinishedCallback(isValid, errorTextName)
+	local c = self.onFieldBoundaryDetectionFinishedCallback
+	local errorText = errorTextName and g_i18n:getText(errorTextName) or ''
+	if c and c.object and c.func then
+		c.func(c.object, isValid, errorText)
+	end
+	return isValid, errorText
+end
+
+--- Register a callback for the field boundary detection finished event.
+--- @param object table object to call the function on
+--- @param func function function to call func(boolean isValid, string|nil errorTextName), errorTextName is the
+--- name of the text in MasterTranslations.xml
+function CpAIJob:registerFieldBoundaryDetectionCallback(object, func)
+	self.onFieldBoundaryDetectionFinishedCallback = {object = object, func = func}
+end
+
 function CpAIJob:getIsStartable(connection)
 
 	local vehicle = self.vehicleParameter:getVehicle()
@@ -353,10 +411,6 @@ function CpAIJob:getCpJobParameters()
 	return self.cpJobParameters
 end
 
-function CpAIJob:getFieldPolygon()
-	return self.fieldPolygon
-end
-
 function CpAIJob:setFieldPolygon(polygon)
 	self.fieldPolygon = polygon
 end

scripts/ai/jobs/CpAIJobBaleFinder.lua

@@ -4,7 +4,6 @@
 CpAIJobBaleFinder = CpObject(CpAIJob)
 CpAIJobBaleFinder.name = "BALE_FINDER_CP"
 CpAIJobBaleFinder.jobName = "CP_job_baleCollect"
-CpAIJobBaleFinder.minStartDistanceToField = 20
 function CpAIJobBaleFinder:init(isServer)
 	CpAIJob.init(self, isServer)
 	self.selectedFieldPlot = FieldPlot(true)
@@ -28,10 +27,9 @@ function CpAIJobBaleFinder:getIsAvailableForVehicle(vehicle, cpJobsAllowed)
 end
 
 function CpAIJobBaleFinder:getCanStartJob()
-	return self:getFieldPolygon() ~= nil
+	return self:getVehicle():cpGetFieldPolygon() ~= nil
 end
 
-
 function CpAIJobBaleFinder:applyCurrentState(vehicle, mission, farmId, isDirectStart, isStartPositionInvalid)
 	CpAIJob.applyCurrentState(self, vehicle, mission, farmId, isDirectStart)
 	self.cpJobParameters:validateSettings()
@@ -53,7 +51,7 @@ end
 
 --- Called when parameters change, scan field
 function CpAIJobBaleFinder:validate(farmId)
-	local isValid, errorMessage = CpAIJob.validate(self, farmId)
+	local isValid, isRunning, errorMessage = CpAIJob.validate(self, farmId)
 	if not isValid then
 		return isValid, errorMessage
 	end
@@ -64,41 +62,20 @@ function CpAIJobBaleFinder:validate(farmId)
 	--------------------------------------------------------------
 	--- Validate field setup
 	--------------------------------------------------------------
-
-	isValid, errorMessage = self:validateFieldPosition(isValid, errorMessage)	
-	local fieldPolygon = self:getFieldPolygon()
-	--------------------------------------------------------------
-	--- Validate start distance to field, if started with the hud
-	--------------------------------------------------------------
-	if isValid and self.isDirectStart and fieldPolygon then 
-		--- Checks the distance for starting with the hud, as a safety check.
-		--- Firstly check, if the vehicle is near the field.
-		local x, _, z = getWorldTranslation(vehicle.rootNode)
-		isValid = CpMathUtil.isPointInPolygon(fieldPolygon, x, z) or 
-				  CpMathUtil.getClosestDistanceToPolygonEdge(fieldPolygon, x, z) < self.minStartDistanceToField
-		if not isValid then
-			return false, g_i18n:getText("CP_error_vehicle_too_far_away_from_field")
-		end
-	end
-
-
-	return isValid, errorMessage
+	isValid, isRunning, errorMessage = self:detectFieldBoundary(isValid, errorMessage)
+	-- if the field detection is still running, it's ok
+	return isValid or isRunning, errorMessage
 end
 
-function CpAIJobBaleFinder:validateFieldPosition(isValid, errorMessage)
-	local tx, tz = self.cpJobParameters.fieldPosition:getPosition()
-	if tx == nil or tz == nil then 
-		return false, g_i18n:getText("CP_error_not_on_field")
-	end
-	local fieldPolygon, _ = CpFieldUtil.getFieldPolygonAtWorldPosition(tx, tz)
-	self:setFieldPolygon(fieldPolygon)
-	if fieldPolygon then 
+function CpAIJobBaleFinder:onFieldBoundaryDetectionFinished(vehicle, fieldPolygon, islandPolygons)
+	if fieldPolygon then
 		self.selectedFieldPlot:setWaypoints(fieldPolygon)
-        self.selectedFieldPlot:setVisible(true)
+		self.selectedFieldPlot:setVisible(true)
+		self:callFieldBoundaryDetectionFinishedCallback(true)
 	else
-		return false, g_i18n:getText("CP_error_not_on_field")
+		self.selectedFieldPlot:setVisible(false)
+		self:callFieldBoundaryDetectionFinishedCallback(false, 'CP_error_field_detection_failed')
 	end
-	return isValid, errorMessage
 end
 
 function CpAIJobBaleFinder:draw(map, isOverviewMap)