feat: enable/disable JPS

Also log should now indicate which pathfinder
is being used.

Author: Peter Vaiko

config/VehicleSettingsSetup.xml

@@ -33,6 +33,7 @@
 		<Setting classType="AIParameterBooleanSetting" name="turnOnField" defaultBool="true" isVisible="areCourseSettingsVisible"/>
 		<!--Avoid Fruit-->
 		<Setting classType="AIParameterBooleanSetting" name="avoidFruit" defaultBool="true" isExpertModeOnly="true"/>
+		<Setting classType="AIParameterBooleanSetting" name="useJps" defaultBool="true" isExpertModeOnly="true"/>
 		<Setting classType="AIParameterSettingList" name="penaltyFactor" min="1" max="10" incremental="0.1" default="1" />
 		<!--Pathfinder Reverse-->
 		<Setting classType="AIParameterBooleanSetting" name="allowReversePathfinding" defaultBool="true" isExpertModeOnly="true" isVisible="areCourseSettingsVisible"/>

scripts/pathfinder/AStar.lua

@@ -6,6 +6,7 @@ AStar = CpObject(HybridAStar)
 
 function AStar:init(vehicle, yieldAfter, maxIterations)
     HybridAStar.init(self, vehicle, yieldAfter, maxIterations)
+    self.name = 'AStar'
     -- this needs to be small enough that no vehicle fit between the grid points (and remain undetected)
     self.deltaPos = 3
     self.deltaPosGoal = self.deltaPos

scripts/pathfinder/HybridAStar.lua

@@ -494,7 +494,8 @@ HybridAStar.defaultMaxIterations = 40000
 ---@param maxIterations number
 ---@param mustBeAccurate boolean|nil
 function HybridAStar:init(vehicle, yieldAfter, maxIterations, mustBeAccurate)
-    self.logger = Logger('HybridAStar', Logger.level.error, CpDebug.DBG_PATHFINDER)
+    self.name = 'HybridAStar'
+    self.logger = Logger(self.name, Logger.level.error, CpDebug.DBG_PATHFINDER)
     self.vehicle = vehicle
     self.iterationsSinceYield = 0
     self.yields = 0
@@ -545,7 +546,7 @@ end
 --- rear axle of the trailer), can be nil
 ---@return PathfinderResult
 function HybridAStar:initRun(start, goal, turnRadius, allowReverse, constraints, hitchLength)
-    self:debug('Start pathfinding between %s and %s', tostring(start), tostring(goal))
+    self:debug('Start %s pathfinding between %s and %s', self.name, tostring(start), tostring(goal))
     self:debug('  turnRadius = %.1f, allowReverse: %s', turnRadius, tostring(allowReverse))
     self.goal = goal
     self.turnRadius = turnRadius

scripts/pathfinder/HybridAStarWithAStarInTheMiddle.lua

@@ -10,8 +10,9 @@ HybridAStarWithAStarInTheMiddle = CpObject(PathfinderInterface)
 ---@param mustBeAccurate boolean must be accurately find the goal position/angle (optional)
 ---@param analyticSolver AnalyticSolver the analytic solver the use (optional)
 function HybridAStarWithAStarInTheMiddle:init(vehicle, yieldAfter, maxIterations, mustBeAccurate, analyticSolver)
-    -- path generation phases
+    self.name = 'HybridAStarWithAStarInTheMiddle'
     self.vehicle = vehicle
+    -- path generation phases
     self.START_TO_MIDDLE = 1
     self.FAST = 2
     self.MIDDLE_TO_END = 3
@@ -250,6 +251,7 @@ function HybridAStarWithPathInTheMiddle:init(vehicle, yieldAfter, path, mustBeAc
     self.vehicle = vehicle
     self.path = path
     HybridAStarWithAStarInTheMiddle.init(self, vehicle, yieldAfter, 10000, mustBeAccurate, analyticSolver)
+    self.name = 'HybridAStarWithPathInTheMiddle'
 end
 
 function HybridAStarWithPathInTheMiddle:start(...)

scripts/pathfinder/JumpPointSearch.lua

@@ -3,6 +3,11 @@
 JumpPointSearch = CpObject(AStar)
 JumpPointSearch.markers = {}
 
+function JumpPointSearch:init(vehicle, yieldAfter, maxIterations)
+    AStar.init(self, vehicle, yieldAfter, maxIterations)
+    self.name = "JumpPointSearch"
+end
+
 function JumpPointSearch:initRun(start, goal, turnRadius, allowReverse, constraints, hitchLength)
     self.logger:setLevel(Logger.level.debug)
     return AStar.initRun(self, start, goal, turnRadius, allowReverse, constraints, hitchLength)

scripts/pathfinder/PathfinderUtil.lua

@@ -428,7 +428,12 @@ end
 ---@param maxIterations number maximum number of iterations
 function PathfinderUtil.startPathfinding(vehicle, start, goal, constraints, allowReverse, mustBeAccurate, maxIterations)
     PathfinderUtil.overlapBoxes = {}
-    local pathfinder = HybridAStarWithJpsInTheMiddle(vehicle, 100, maxIterations, mustBeAccurate)
+    local pathfinder
+    if vehicle:getCpSettings().useJps:getValue() then
+        pathfinder = HybridAStarWithJpsInTheMiddle(vehicle, 100, maxIterations, mustBeAccurate)
+    else
+        pathfinder = HybridAStarWithAStarInTheMiddle(vehicle, 100, maxIterations, mustBeAccurate)
+    end
     return pathfinder, pathfinder:start(start, goal, constraints.turnRadius, allowReverse,
             constraints, constraints.trailerHitchLength)
 end