refactor: the big field polygon refactoring

Field polygon was all over the place before, now only
store it in the CourseGenerator spec.

Start detection asynchronously and prepare strategies
that need the field polygon to wait for the detection
finished.

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

@@ -71,10 +71,6 @@
 			<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>
@@ -389,6 +385,10 @@
 			<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">
@@ -1724,6 +1724,10 @@ 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

@@ -248,6 +248,38 @@ 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, string TODO
+function CpAIJob:detectFieldBoundary()
+	local vehicle = self.vehicleParameter:getVehicle()
+
+	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
+	if vehicle:cpIsFieldBoundaryDetectionRunning() then
+		return 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, ''
+	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 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
+
 function CpAIJob:getIsStartable(connection)
 
 	local vehicle = self.vehicleParameter:getVehicle()

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()
@@ -64,43 +62,11 @@ 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
-
+	isValid, errorMessage = self:detectFieldBoundary(isValid, errorMessage)
 
 	return isValid, 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 
-		self.selectedFieldPlot:setWaypoints(fieldPolygon)
-        self.selectedFieldPlot:setVisible(true)
-	else
-		return false, g_i18n:getText("CP_error_not_on_field")
-	end
-	return isValid, errorMessage
-end
-
 function CpAIJobBaleFinder:draw(map, isOverviewMap)
 	CpAIJob.draw(self, map, isOverviewMap)
 	if not isOverviewMap then

scripts/ai/jobs/CpAIJobFieldWork.lua

@@ -10,11 +10,10 @@ CpAIJobFieldWork.jobName = "CP_job_fieldWork"
 CpAIJobFieldWork.GenerateButton = "FIELDWORK_BUTTON"
 function CpAIJobFieldWork:init(isServer)
     CpAIJob.init(self, isServer)
-    self.logger = Logger('CpAIJobFieldWork', nil, CpDebug.DBG_FIELDWORK)
-    self.hasValidPosition = false
     self.foundVines = nil
     self.selectedFieldPlot = FieldPlot(true)
     self.selectedFieldPlot:setVisible(false)
+    self.selectedFieldPlot:setBrightColor(true)
     self.courseGeneratorInterface = CourseGeneratorInterface()
 end
 
@@ -77,7 +76,6 @@ end
 ---@param isDirectStart boolean disables the drive to by giants
 ---@param resetToVehiclePosition boolean resets the drive to target position by giants and the field position to the vehicle position.
 function CpAIJobFieldWork:applyCurrentState(vehicle, mission, farmId, isDirectStart, resetToVehiclePosition)
-    print('********************** Apply current state **********************')
     CpAIJob.applyCurrentState(self, vehicle, mission, farmId, isDirectStart)
     if resetToVehiclePosition then
         -- set the start and the field position to the vehicle's position (
@@ -97,39 +95,16 @@ function CpAIJobFieldWork:applyCurrentState(vehicle, mission, farmId, isDirectSt
             self.cpJobParameters.fieldPosition:setPosition(x, z)
         end
     end
-end
-
---- Checks the field position setting.
-function CpAIJobFieldWork:validateFieldSetup()
-    print('********************** Validate field setup **********************')
-    local vehicle = self.vehicleParameter:getVehicle()
-
-    -- everything else is valid, now find the field
-    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
-    if vehicle:cpIsFieldBoundaryDetectionRunning() then
-        return false, g_i18n:getText("CP_error_field_detection_still_running")
-    end
-    local x, z = vehicle:cpGetFieldPosition()
-    if x == tx and z == tz then
-        self.logger:debug(vehicle, 'Field position still at %.1f/%.1f, do not detect field boundary again', tx, tz)
-        return true, ''
+    local fieldPolygon = vehicle:cpGetFieldPolygon()
+    if fieldPolygon then
+        -- if we already have a field polygon, show it
+        self.selectedFieldPlot:setWaypoints(fieldPolygon)
+        self.selectedFieldPlot:setVisible(true)
     end
-    self.logger:debug(vehicle, 'Field position changed to %.1f/%.1f, start field boundary detection', tx, tz)
-    self.hasValidPosition = false
-    self.foundVines = nil
-
-    vehicle:cpDetectFieldBoundary(tx, tz, self, CpAIJobFieldWork.onFieldBoundaryDetectionFinished)
-    -- TODO: return false and nothing, as the detection is still running?
 end
 
 function CpAIJobFieldWork:onFieldBoundaryDetectionFinished(vehicle, fieldPolygon, islandPolygons)
-
-    self:setFieldPolygon(fieldPolygon)
     if fieldPolygon then
-        self.hasValidPosition = true
         local x, z = vehicle:cpGetFieldPosition()
         self.foundVines = g_vineScanner:findVineNodesInField(fieldPolygon, x, z, self.customField ~= nil)
         if self.foundVines then
@@ -138,7 +113,6 @@ function CpAIJobFieldWork:onFieldBoundaryDetectionFinished(vehicle, fieldPolygon
         end
         self.selectedFieldPlot:setWaypoints(fieldPolygon)
         self.selectedFieldPlot:setVisible(true)
-        self.selectedFieldPlot:setBrightColor(true)
     else
         self.selectedFieldPlot:setVisible(false)
         -- TODO: here we need to tell somehow the frame about the detection success/failure
@@ -167,7 +141,7 @@ function CpAIJobFieldWork:validate(farmId)
 
     --- Only check the valid field position in the in game menu.
     if not self.isDirectStart then
-        isValid, errorMessage = self:validateFieldSetup()
+        isValid, errorMessage = self:detectFieldBoundary()
         if not isValid then
             return isValid, errorMessage
         end
@@ -190,7 +164,8 @@ function CpAIJobFieldWork:draw(map, isOverviewMap)
 end
 
 function CpAIJobFieldWork:getCanGenerateFieldWorkCourse()
-    return self.hasValidPosition
+    local vehicle = self:getVehicle()
+    return vehicle and vehicle:cpGetFieldPolygon() ~= nil and not vehicle:cpIsFieldBoundaryDetectionRunning()
 end
 
 -- To pass an alignment course from the drive to fieldwork start to the fieldwork, so the

scripts/ai/strategies/AIDriveStrategyCombineCourse.lua

@@ -122,6 +122,14 @@ function AIDriveStrategyCombineCourse:getStateAsString()
     return s
 end
 
+--- Combine needs a field polygon for the self-unload to work. Although it is a user setting, but it can be
+--- changed during the work, so we always require the field polygon, regardless of the setting, as it is checked
+--- only after starting the CP driver.
+---@return boolean true if the strategy needs the field polygon to work
+function AIDriveStrategyCombineCourse:needsFieldPolygon()
+    return true
+end
+
 -----------------------------------------------------------------------------------------------------------------------
 --- Initialization
 -----------------------------------------------------------------------------------------------------------------------

scripts/ai/strategies/AIDriveStrategyCourse.lua

@@ -25,6 +25,7 @@ AIDriveStrategyCourse = CpObject()
 AIDriveStrategyCourse.myStates = {
     INITIAL = {},
     WAITING_FOR_PATHFINDER = {},
+    WAITING_FOR_FIELD_BOUNDARY_DETECTION = {},
 }
 
 --- Implement controller events.
@@ -703,4 +704,32 @@ function AIDriveStrategyCourse:updateInfoTexts()
             self:clearInfoText(infoText)
         end
     end
-end
+end
+
+------------------------------------------------------------------------------------------------------------------------
+--- Field boundary detection
+---------------------------------------------------------------------------------------------------------------------------
+--- Some strategies need to know the field boundaries. Bale finder must search for bales on the field, combine
+--- unload will look for harvesters on the field, self-unload will look for trailers around the field. When
+--- these strategies are started directly from the HUD or by a shortcut, they won't necessarily have a the
+--- field boundary yet, as detection is an asynchronous process. Once the detection is done, the field polygon is
+--- available in the CpCourseGenerator specialization by calling cpGetFieldPolygon().
+---
+--- Strategies that need the boundary should set the state WAITING_FOR_FIELD_BOUNDARY_DETECTION and call this on
+--- until it returns true and only then transition to the INITIAL state.
+---
+---@return boolean true if the field boundary is already available
+function AIDriveStrategyCourse:haveFieldPolygon()
+    if self.fieldPolygon == nil then
+        if self.vehicle:cpGetFieldPolygon() then
+            self:clearInfoText(InfoTextManager.WAITING_FOR_FIELD_BOUNDARY_DETECTION)
+            self.fieldPolygon = self.vehicle:cpGetFieldPolygon()
+            return true
+        else
+            self:setInfoText(InfoTextManager.WAITING_FOR_FIELD_BOUNDARY_DETECTION)
+            return false
+        end
+    else
+        return true
+    end
+end