fix: add custom field to FieldBoundaryDetector

#348

scripts/ai/jobs/CpAIJobBaleFinder.lua

@@ -90,7 +90,7 @@ function CpAIJobBaleFinder:validateFieldPosition(isValid, errorMessage)
 	if tx == nil or tz == nil then 
 		return false, g_i18n:getText("CP_error_not_on_field")
 	end
-	local fieldPolygon, _ = CpFieldUtil.getFieldPolygonAtWorldPosition(tx, tz)
+		local fieldPolygon, _ = CpFieldUtil.getFieldPolygonAtWorldPosition(tx, tz)
 	self:setFieldPolygon(fieldPolygon)
 	if fieldPolygon then 
 		self.selectedFieldPlot:setWaypoints(fieldPolygon)

scripts/ai/jobs/CpAIJobCombineUnloader.lua

@@ -74,13 +74,13 @@ function CpAIJobCombineUnloader:applyCurrentState(vehicle, mission, farmId, isDi
 		x, _, z = getWorldTranslation(vehicle.rootNode)
 		self.cpJobParameters.fieldPosition:setPosition(x, z)
 	end
-	local x, z = self.cpJobParameters.fieldUnloadPosition:getPosition()
+	x, z = self.cpJobParameters.fieldUnloadPosition:getPosition()
 	local angle = self.cpJobParameters.fieldUnloadPosition:getAngle()
 	-- no field position from the previous job, use the vehicle's current position
 	if x == nil or z == nil or angle == nil then
 		x, _, z = getWorldTranslation(vehicle.rootNode)
 		local dirX, _, dirZ = localDirectionToWorld(vehicle.rootNode, 0, 0, 1)
-		local angle = MathUtil.getYRotationFromDirection(dirX, dirZ)
+		angle = MathUtil.getYRotationFromDirection(dirX, dirZ)
 		self.cpJobParameters.fieldUnloadPosition:setPosition(x, z)
 		self.cpJobParameters.fieldUnloadPosition:setAngle(angle)
 	end
@@ -140,7 +140,7 @@ function CpAIJobCombineUnloader:validate(farmId)
 	------------------------------------
 	--- Validate selected field
 	-------------------------------------
-	local isValid, errorMessage = self:validateFieldPosition(isValid, errorMessage)
+	isValid, errorMessage = self:validateFieldPosition(isValid, errorMessage)
 
 	if not isValid then
 		return isValid, errorMessage

scripts/ai/jobs/CpAIJobFieldWork.lua

@@ -73,16 +73,7 @@ end
 ---@param isStartPositionInvalid boolean resets the drive to target position by giants and the field position to the vehicle position.
 function CpAIJobFieldWork:applyCurrentState(vehicle, mission, farmId, isDirectStart, isStartPositionInvalid)
     CpAIJob.applyCurrentState(self, vehicle, mission, farmId, isDirectStart)
-
-    local _
-    local x, z = self.cpJobParameters.fieldPosition:getPosition()
-
-    if x == nil or z == nil then
-        x, _, z = getWorldTranslation(vehicle.rootNode)
-    end
-
-    self.cpJobParameters.fieldPosition:setPosition(x, z)
-
+    print('CpAIJobFieldWork:applyCurrentState')
     if isStartPositionInvalid then
         local x, _, z = getWorldTranslation(vehicle.rootNode)
         local dirX, _, dirZ = localDirectionToWorld(vehicle.rootNode, 0, 0, 1)
@@ -92,12 +83,18 @@ function CpAIJobFieldWork:applyCurrentState(vehicle, mission, farmId, isDirectSt
         self.cpJobParameters.startPosition:setAngle(angle)
 
         self.cpJobParameters.fieldPosition:setPosition(x, z)
+    else
+        local x, z = self.cpJobParameters.fieldPosition:getPosition()
+        if x == nil or z == nil then
+            x, _, z = getWorldTranslation(vehicle.rootNode)
+            self.cpJobParameters.fieldPosition:setPosition(x, z)
+        end
     end
 end
 
 --- Checks the field position setting.
 function CpAIJobFieldWork:validateFieldSetup(isValid, errorMessage)
-
+    print('CpAIJobFieldWork:validateFieldSetup')
     if not isValid then
         return isValid, errorMessage
     end
@@ -204,7 +201,6 @@ end
 --- Button callback to generate a field work course.
 function CpAIJobFieldWork:onClickGenerateFieldWorkCourse(callback)
     local vehicle = self.vehicleParameter:getVehicle()
-    local fieldPolygon = self:getFieldPolygon()
     local settings = vehicle:getCourseGeneratorSettings()
     if self.isCustomField then
         CpUtil.infoVehicle(vehicle, 'disabling island bypass on custom field')

scripts/field/CustomField.lua

@@ -106,6 +106,7 @@ function CustomField:getFieldNumber()
     return s and tonumber(s)
 end
 
+---@return [{x, z}] vertices of the field polygon
 function CustomField:getVertices()
     return self.vertices
 end

scripts/field/CustomFieldManager.lua

@@ -203,6 +203,7 @@ function CustomFieldManager:onClickRenameDialog(newName, clickOk, fieldToRename)
     end
 end
 
+---@return CustomField|nil first custom field found at the given x and z coordinates.
 function CustomFieldManager:getCustomField(x, z)
     for _, field in pairs(self.fields) do
         if field:isPointOnField(x, z) then

scripts/field/FieldBoundaryDetector.lua

@@ -3,40 +3,57 @@
 ---@class FieldBoundaryDetector
 FieldBoundaryDetector = CpObject()
 
-function FieldBoundaryDetector:debug(...)
-    CpUtil.debugVehicle(CpDebug.DBG_COURSES, self.vehicle, ...)
-end
-
-function FieldBoundaryDetector:info(...)
-    CpUtil.infoVehicle(self.vehicle, ...)
-end
-
 --- Create a FieldBoundaryDetector instance and start the detection immediately. The detection is an asynchronous
 --- process and FieldBoundaryDetector:update() must be called until it returns false to get the result.
+---
+--- If the user prefers custom fields, the detection will first check if there is a custom field at the given position,
+--- and if so, use that as the field boundary. If not, the Giants field boundary detection is used.
+--- If the Giants detection fails, the custom field is used as a fallback if exists at the position.
+---
 --- The result is available through getFieldPolygon(), which is a polygon representing the field boundary around
---- x, z.
+--- x, z, and through getIslandPolygons() which is an array of polygons representing the islands inside the field.
+---
 ---@param x number world X coordinate to start the detection at
 ---@param z number world Z coordinate to start the detection at
 ---@param vehicle table vehicle, this is used to generate the field course settings the Giants detection needs.
 function FieldBoundaryDetector:init(x, z, vehicle)
+    self.logger = Logger('FieldBoundaryDetector', Logger.level.debug, CpDebug.DBG_COURSES)
     self.vehicle = vehicle
     self.updates = 0
-    self:info( 'Detecting field boundary at %.1f %.1f using the Giants function', x, z)
+    local customField = g_customFieldManager:getCustomField(x, z)
+    if customField and g_Courseplay.globalSettings.preferCustomFields:getValue() then
+        self.logger:info( 'Found custom field %s at %.1f %.1f and custom fields are preferred',
+                customField:getName(), x, z)
+        self:_useCustomField(customField)
+        return
+    end
+    self.logger:info( 'Detecting field boundary at %.1f %.1f using the Giants function', x, z)
     local fieldCourseSettings, implementData = FieldCourseSettings.generate(vehicle)
     self.courseField = FieldCourseField.generateAtPosition(x, z, fieldCourseSettings, function(courseField, success)
         if success then
-            self:info('Field boundary detection successful, %d boundary points and %d islands',
-                    #courseField.fieldRootBoundary.boundaryLine, #courseField.islands)
+            self.logger:info('Field boundary detection successful after %d updates, %d boundary points and %d islands',
+                    self.updates, #courseField.fieldRootBoundary.boundaryLine, #courseField.islands)
+            self.fieldPolygon = self:_getAsVertices(courseField.fieldRootBoundary.boundaryLine)
+            self.islandPolygons = {}
+            for i, island in ipairs(courseField.islands) do
+                local islandBoundary = self:_getAsVertices(island.rootBoundary.boundaryLine)
+                table.insert(self.islandPolygons, islandBoundary)
+            end
         else
-            self:info('Field boundary detection failed')
+            if customField then
+                self.logger:info('Field boundary detection failed after %d updates, but found custom field %s at %.1f %.1f',
+                        self.updates, customField:getName(), x, z)
+                self:_useCustomField(customField)
+                return
+            end
         end
-        self.success, self.result = success, courseField
     end)
 end
 
 ---@return boolean true if still in progress, false when done
 function FieldBoundaryDetector:update(dt)
-    if self.courseField:update(dt, 0.00025) then
+    -- when we use the custom field, we are done immediately
+    if not self.useCustomField and self.courseField:update(dt, 0.00025) then
         self.updates = self.updates + 1
         return true
     else
@@ -46,30 +63,26 @@ end
 
 ---@return table|nil [{x, y, z}] field polygon with game vertices
 function FieldBoundaryDetector:getFieldPolygon()
-    if self.success then
-        return self:getAsVertices(self.result.fieldRootBoundary.boundaryLine)
-    end
+    return self.fieldPolygon
 end
 
 ---@return table|nil [[{x, y, z}]] array of island polygons with game vertices (x, y, z)
 function FieldBoundaryDetector:getIslandPolygons()
-    local islandPolygons = {}
-    if self.success then
-        for i, island in ipairs(self.result.islands) do
-            local islandBoundary = self:getAsVertices(island.rootBoundary.boundaryLine)
-            table.insert(islandPolygons, islandBoundary)
-        end
-    end
-    return islandPolygons
+    return self.islandPolygons
 end
 
 ---@param boundaryLine table [[x, z]] array of arrays as the Giants functions return the field boundary
 ---@return table [{x, z}] array of vertices as the course generator needs it
-function FieldBoundaryDetector:getAsVertices(boundaryLine)
+function FieldBoundaryDetector:_getAsVertices(boundaryLine)
     local vertices = {}
     for _, point in ipairs(boundaryLine) do
         local x, z = point[1], point[2]
         table.insert(vertices, { x = x, y = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, x, 1, z), z = z })
     end
     return vertices
 end
+
+function FieldBoundaryDetector:_useCustomField(customField)
+    self.fieldPolygon = customField:getVertices()
+    self.useCustomField = true
+end