WIP rewrite the job stopping logic

- Now every ``vehicle:stopCurrentAIJob()`` call gets passed back to the current drive stategy and can be evaluated there.
- This enabled a proper solution to wait for finishing event, like for example folding of implements or specific action like unloading of a baler and so on ...

Author: schwiti6190

scripts/ai/controllers/BaleLoaderController.lua

@@ -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

scripts/ai/controllers/BalerController.lua

@@ -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
@@ -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)

scripts/ai/controllers/ImplementController.lua

@@ -93,6 +93,10 @@ function ImplementController:onFinished(hasFinished)
     --- override
 end
 
+function ImplementController:onPreFinished()
+    return true
+end
+
 function ImplementController:onFinishRow(isHeadlandTurn)
 end
 

scripts/ai/jobs/CpAIJob.lua

@@ -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
@@ -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
@@ -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
 

scripts/ai/jobs/CpAIJobFieldWork.lua

@@ -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

scripts/ai/strategies/AIDriveStrategyCourse.lua

@@ -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"
@@ -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()
@@ -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
@@ -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()
@@ -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

scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

@@ -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

scripts/ai/strategies/AIDriveStrategyFindBales.lua

@@ -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
@@ -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
 
@@ -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()
@@ -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()
@@ -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.