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fix: connecting path error #968

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Merged
Tensuko merged 1 commit into from
Jul 23, 2025
Merged

fix: connecting path error #968

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17 changes: 11 additions & 6 deletions scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -610,23 +610,28 @@ function AIDriveStrategyFieldWorkCourse:startConnectingPath(ix)
local targetNode, zOffset = self.turnContext:getTurnEndNodeAndOffsets(steeringLength)
local context = PathfinderContext(self.vehicle):allowReverse(self:getAllowReversePathfinding())
context:preferredPath(connectingPath):mustBeAccurate(true)
self.rawConnectingPath = Course(self.vehicle, connectingPath, true)
if #connectingPath < 2 then
self:debug('Connecting path has only %d waypoint, use an alignment course instead', #connectingPath)
self.workStarterCourse = self:createAlignmentCourse(self.fieldWorkCourse, targetWaypointIx)
else
self.workStarterCourse = Course(self.vehicle, connectingPath, true)
end
self.pathfinderController:registerListeners(self, self.onPathfindingDoneToConnectingPathEnd,
self.onPathfindingFailedToConnectingPathEnd)
self:debug('Connecting path has %d waypoints, start pathfinding to target waypoint %d, zOffset %.1f',
#connectingPath, targetWaypointIx, zOffset)
self.state = self.states.WAITING_FOR_PATHFINDER
-- to have a course set while waiting for the pathfinder and make sure that the course known to the PPC
-- is the same as the one we are using
self:startCourse(self.rawConnectingPath, 1)
self:startCourse(self.workStarterCourse, 1)
self.pathfinderController:findPathToNode(context, targetNode, 0, zOffset, 1)
end
end

function AIDriveStrategyFieldWorkCourse:onPathfindingFailedToConnectingPathEnd(controller, lastContext, wasLastRetry, currentRetryAttempt)
if wasLastRetry then
self:debug('Pathfinding to end of connecting path failed again, use the connecting path as is')
self:startCourseToWorkStart(self.rawConnectingPath)
self:debug('Pathfinding to end of connecting path failed again, use the connecting path/alignment course instead')
self:startCourseToWorkStart(self.workStarterCourse)
else
self:debug('Pathfinding to end of connecting path failed once, retry with disabled collisions')
lastContext:collisionMask(0)
Expand All @@ -639,8 +644,8 @@ function AIDriveStrategyFieldWorkCourse:onPathfindingDoneToConnectingPathEnd(con
self:debug('Pathfinding to end of connecting path finished')
self:startCourseToWorkStart(course)
else
self:debug('Pathfinding to end of connecting path failed, use the connecting path as is')
self:startCourseToWorkStart(self.rawConnectingPath)
self:debug('Pathfinding to end of connecting path failed, use the connecting path/alignment course instead')
self:startCourseToWorkStart(self.workStarterCourse)
end
end

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