Address pvaiko review round 3: simplify proxy, revert unrelated files, clean up guards

- CpManualCombineProxy: replace callUnloader() stub with isActiveCpCombine() returning true (correct approach per reviewer)
- AIDriveStrategyCombineCourse: revert to upstream — combine strategy not installed when manually driving
- PurePursuitController: revert to upstream — disableStopWhenOffTrack(5000) in the strategy is sufficient, grace period is redundant
- PathfinderUtil: revert to upstream — swath detection unconfirmed, defer to future iteration
- AIDriveStrategyUnloadCombine: remove do/end wrapper and self.ppc guard from disableStopWhenOffTrack call, fold into isManualProxy check; revert fill-level block to upstream; remove nil guards from harvesterStrategy calls in handleChopperTurn; remove redundant or-6 fallback on getWorkWidth(); handle manual blocker inline at blocking vehicle check

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

Author: antler22

scripts/ai/CpManualCombineProxy.lua

@@ -380,8 +380,8 @@ function CpManualCombineProxy:isWaitingInPocket()
     return false
 end
 
---- Needed so isActiveCpCombine() recognizes this as a valid combine strategy.
-function CpManualCombineProxy:callUnloader()
+function CpManualCombineProxy:isActiveCpCombine()
+    return true
 end
 
 function CpManualCombineProxy:getUnloadTargetType()

scripts/ai/PurePursuitController.lua

@@ -58,8 +58,6 @@ PurePursuitController = CpObject()
 --- if the vehicle is more than cutOutDistanceLimit meters from the current segment's endpoints, cut-out the
 --- controller to stop. Some error must have caused us to wander way off-track, unlikely to recover.
 PurePursuitController.cutOutDistanceLimit = 50
---- Only shut off after being off track for this long (ms). Reduces false shutdowns on brief excursions (turns, terrain).
-PurePursuitController.offTrackGracePeriodMs = 10000
 
 -- constructor
 function PurePursuitController:init(vehicle)
@@ -94,8 +92,6 @@ function PurePursuitController:init(vehicle)
     self.waypointChangeListeners = {}
     -- enable/disable stopping the vehicle when it is off-track (too far away from any waypoint)
     self.stopWhenOffTrack = CpTemporaryObject(true)
-    -- when we first entered the off-track shutdown zone (nil = not in zone or just left it)
-    self.offTrackShutdownSince = nil
 end
 
 -- destructor
@@ -468,7 +464,6 @@ function PurePursuitController:findGoalPoint()
         -- case i (first node outside virtual circle but not yet reached) or (not the first node but we are way off the track)
         if (ix == self.firstIx and ix ~= self.lastPassedWaypointIx) and
                 q1 >= self.lookAheadDistance and q2 >= self.lookAheadDistance then
-            self.offTrackShutdownSince = nil
             -- If we weren't on track yet (after initialization, on our way to the first/initialized waypoint)
             -- set the goal to the relevant WP
             self.goalWpNode:setToWaypoint(self.course, self.relevantWpNode.ix)
@@ -481,7 +476,6 @@ function PurePursuitController:findGoalPoint()
 
         -- case ii (common case)
         if q1 <= self.lookAheadDistance and q2 >= self.lookAheadDistance then
-            self.offTrackShutdownSince = nil
             -- in some weird cases q1 may be 0 (when we calculate a course based on the vehicle position) so fix that
             -- to avoid a nan
             if q1 < 0.0001 then
@@ -525,17 +519,10 @@ function PurePursuitController:findGoalPoint()
                 -- current waypoint is the waypoint at the end of the path segment
                 self:setCurrentWaypoint(ix + 1)
             end
-            -- Only shut off after being continuously off track for a grace period (reduces false shutdowns).
-            -- Strategies that legitimately expect to be off track should call disableStopWhenOffTrack().
             if (q1 > self.cutOutDistanceLimit) and (q2 > self.cutOutDistanceLimit) and self.stopWhenOffTrack:get() then
-                self.offTrackShutdownSince = self.offTrackShutdownSince or g_time
-                if (g_time - self.offTrackShutdownSince) >= self.offTrackGracePeriodMs then
-                    CpUtil.infoVehicle(self.vehicle, 'vehicle off track, shutting off Courseplay now.')
-                    self.vehicle:stopCurrentAIJob(AIMessageCpError.new())
-                    return
-                end
-            else
-                self.offTrackShutdownSince = nil
+                CpUtil.infoVehicle(self.vehicle, 'vehicle off track, shutting off Courseplay now.')
+                self.vehicle:stopCurrentAIJob(AIMessageCpError.new())
+                return
             end
             break
         end
@@ -545,7 +532,6 @@ function PurePursuitController:findGoalPoint()
         -- the reference node is already beyond the direction switch waypoint. We should not skip that being
         -- the current waypoint otherwise the relevant waypoint won't be moved over the direction switch
         if self.course:switchingDirectionAt(ix) then
-            self.offTrackShutdownSince = nil
             -- force waypoint change
             self:showGoalpointDiag(100, 'switching direction while looking for goal point, ix=%d', ix)
             self.wpBeforeGoalPointIx = ix - 1

scripts/ai/strategies/AIDriveStrategyCombineCourse.lua

@@ -966,17 +966,14 @@ function AIDriveStrategyCombineCourse:callUnloader(bestUnloader, tentativeRendez
 end
 
 ---@param vehicle table
----@return boolean true if vehicle is an active Courseplay controlled combine/harvester,
---- or a manually-driven combine with an active "Call Unloader" request
+---@return boolean true if vehicle is an active Courseplay controlled combine/harvester
 function AIDriveStrategyCombineCourse.isActiveCpCombine(vehicle)
-    if vehicle.getIsCpActive and vehicle:getIsCpActive() then
-        local driveStrategy = vehicle.getCpDriveStrategy and vehicle:getCpDriveStrategy()
-        return driveStrategy and driveStrategy.callUnloader ~= nil
-    end
-    if vehicle.cpIsManualCombineCallingUnloader and vehicle:cpIsManualCombineCallingUnloader() then
-        return true
+    if not (vehicle.getIsCpActive and vehicle:getIsCpActive()) then
+        -- not driven by CP
+        return false
     end
-    return false
+    local driveStrategy = vehicle.getCpDriveStrategy and vehicle:getCpDriveStrategy()
+    return driveStrategy and driveStrategy.callUnloader ~= nil
 end
 
 --- Find an unloader to drive to the target, which may either be the combine itself (when stopped and waiting for unload)

scripts/ai/strategies/AIDriveStrategyUnloadCombine.lua

@@ -928,7 +928,7 @@ function AIDriveStrategyUnloadCombine:handleChopperTurn(harvester)
 
     -- since we are taking care of staying away, ask the chopper to ignore us
     local harvesterStrategy = self:getCombineStrategy()
-    if harvesterStrategy then harvesterStrategy:requestToIgnoreProximity(self.vehicle) end
+    harvesterStrategy:requestToIgnoreProximity(self.vehicle)
 
     local d, dx, dz = self:getDistanceFromCombine(harvester)
     local combineSpeed = harvester.lastSpeedReal * 3600
@@ -946,12 +946,12 @@ function AIDriveStrategyUnloadCombine:handleChopperTurn(harvester)
         -- stay closer when still discharging
         if sameDirection then
             -- reverse speed is controlled around combine's speed
-            dReference = (harvesterStrategy and harvesterStrategy:isDischarging()) and dz or dz - 3
+            dReference = harvesterStrategy:isDischarging() and dz or dz - 3
             speed = combineSpeed + CpMathUtil.clamp(self.targetDistanceBehindChopper - dReference, -combineSpeed,
                     self.settings.reverseSpeed:getValue() * 1.5)
         else
             -- reverse speed only depends on distance from the combine, stop when at working width
-            speed = CpMathUtil.clamp((harvesterStrategy and harvesterStrategy:getWorkWidth() or 6) - d, 0,
+            speed = CpMathUtil.clamp(harvesterStrategy:getWorkWidth() - d, 0,
                     self.settings.reverseSpeed:getValue() * 1.5)
         end
     else
@@ -2166,27 +2166,6 @@ function AIDriveStrategyUnloadCombine:unloadMovingCombine()
     self.followingCourseOffset = self:getFollowingCourseOffset(self.combineToUnload)
     self.followCourse:setOffset(self.followingCourseOffset, 0)
 
-    -- NOTE: For manually-driven combines we do NOT refresh the follow course.
-    -- driveBesideCombine() computes the steering goal point directly from the pipe reference
-    -- node every frame (see the isManual branch there), so the course is never consulted for
-    -- steering. This prevents any possibility of angle lock, stale courses, or backward
-    -- courses produced by synthesising a follow course from the combine's live position.
-    --
-    -- Because the placeholder follow course is deliberately static while steering happens
-    -- off a live pipe reference, the cart WILL drift far away from the placeholder course as
-    -- the combine curves or S-turns. The PPC's off-track shutdown would see that drift and
-    -- kill the CP helper. Keep the check continuously disabled while a manual combine is the
-    -- unload target. We use 5000 ms (much longer than any realistic frame interval) so there
-    -- is no risk of a brief re-enable window between ticks.
-    do
-        local combineStrategy = self:getCombineStrategy()
-        if combineStrategy and combineStrategy.isManualProxy and combineStrategy:isManualProxy() then
-            if self.ppc and self.ppc.disableStopWhenOffTrack then
-                self.ppc:disableStopWhenOffTrack(5000)
-            end
-        end
-    end
-
     if self:changeToUnloadWhenTrailerFull() then
         return
     end
@@ -2198,22 +2177,18 @@ function AIDriveStrategyUnloadCombine:unloadMovingCombine()
     -- The farmer is in full control: ignore fill level, alignment, turning state, etc.
     -- Stay under the pipe until the proxy's isUnloadFinished() fires (pipe closed for 2s)
     -- or the grain cart's own trailer fills up (handled by changeToUnloadWhenTrailerFull above).
-    if combineStrategy.isManualProxy and combineStrategy:isManualProxy() then
+    -- The cart will drift from the static placeholder course as the combine curves — disable the
+    -- PPC off-track check for the duration (5000 ms >> any realistic frame interval).
+    if combineStrategy.isManualProxy then
+        self.ppc:disableStopWhenOffTrack(5000)
         self:debugSparse('unloadMovingCombine (manual): isDischarging=%s',
-                tostring(combineStrategy.isDischarging and combineStrategy:isDischarging()))
+                tostring(combineStrategy:isDischarging()))
         return gx, gz
     end
 
     --when the combine is empty, stop and wait for next combine (unless this can't work without an unloader nearby)
-    local fillPct = combineStrategy:getFillLevelPercentage()
-    local isDischarging = combineStrategy.isDischarging and combineStrategy:isDischarging()
-    local isUnloadFinished = combineStrategy.isUnloadFinished and combineStrategy:isUnloadFinished()
-    self:debugSparse('unloadMovingCombine: fillPct=%.2f isDischarging=%s isUnloadFinished=%s',
-            fillPct, tostring(isDischarging), tostring(isUnloadFinished))
-    -- Don't exit on fill level while the combine is still actively discharging — the pipe hasn't
-    -- closed yet and we'd leave with grain still flowing. Wait for discharge to stop first.
-    if fillPct <= 0.1 and not isDischarging and not combineStrategy:alwaysNeedsUnloader() then
-        self:debug('unloadMovingCombine: EXIT - combine empty (fillPct=%.2f) and not discharging, finishing unloading.', fillPct)
+    if combineStrategy:getFillLevelPercentage() <= 0.1 and not combineStrategy:alwaysNeedsUnloader() then
+        self:debug('Combine empty, finish unloading.')
         self:onUnloadingMovingCombineFinished(combineStrategy)
         return
     end
@@ -2376,13 +2351,14 @@ function AIDriveStrategyUnloadCombine:onBlockingVehicle(blockingVehicle, isBack)
         -- TODO: maybe a generic getTrailer() ?
         local referenceObject = AIUtil.getImplementOrVehicleWithSpecialization(self.vehicle, Trailer) or
                 AIUtil.getImplementOrVehicleWithSpecialization(self.vehicle, HookLiftTrailer) or self.vehicle
-        if AIDriveStrategyCombineCourse.isActiveCpCombine(blockingVehicle) then
+        local isManualBlocker = blockingVehicle.cpIsManualCombineCallingUnloader and blockingVehicle:cpIsManualCombineCallingUnloader()
+        if AIDriveStrategyCombineCourse.isActiveCpCombine(blockingVehicle) or isManualBlocker then
             -- except we are blocking our buddy, so set up a course parallel to the combine's direction,
             -- with an offset from the combine that makes sure we are clear. Use the trailer's root node (and not
             -- the tractor's) as when we reversing, it is easier when the trailer remains on the same side of the combine
             local dx, _, _ = localToLocal(referenceObject.rootNode, blockingVehicle:getAIDirectionNode(), 0, 0, 0)
             local blockingStrategy = blockingVehicle:getCpDriveStrategy() or (blockingVehicle.cpGetManualCombineProxy and blockingVehicle:cpGetManualCombineProxy())
-            local blockingWorkWidth = blockingStrategy and blockingStrategy:getWorkWidth() or 6
+            local blockingWorkWidth = blockingStrategy:getWorkWidth()
             local xOffset = self.vehicle.size.width / 2 + blockingWorkWidth / 2 + 2
             xOffset = dx > 0 and xOffset or -xOffset
             self:setNewState(self.states.MOVING_AWAY_FROM_OTHER_VEHICLE)

scripts/pathfinder/PathfinderUtil.lua

@@ -269,21 +269,6 @@ function PathfinderUtil.hasFruit(x, z, length, width, areaToIgnoreFruit)
                 break
             end
         end
-        -- Ignore windrow/swath types (cut material lying on the ground). Use the game API first:
-        -- isFillTypeWindrow covers all registered windrow fill types including DLC additions.
-        -- Name-based fallback catches any types not in the windrow registry (e.g. mod types).
-        if not ignoreThis then
-            local fillTypeIndex = g_fillTypeManager:getFillTypeIndexByName(fruitType.name)
-            if fillTypeIndex and g_fruitTypeManager:isFillTypeWindrow(fillTypeIndex) then
-                ignoreThis = true
-            end
-        end
-        if not ignoreThis then
-            local name = string.lower(fruitType.name or '')
-            if string.find(name, 'windrow') or string.find(name, 'swath') or name == 'straw' or name == 'chaff' then
-                ignoreThis = true
-            end
-        end
         if not ignoreThis then
             -- if the last boolean parameter is true then it returns fruitValue > 0 for fruits/states ready for forage also
             local fruitValue, numPixels, totalNumPixels, c = FSDensityMapUtil.getFruitArea(fruitType.index, x - width / 2, z - length / 2, x + width / 2, z, x, z + length / 2, true, true)