Merge pull request #2842 from Courseplay/PathfinderController

Added Pathfinder controller to unify the pathfinder handling

modDesc.xml

@@ -276,6 +276,7 @@ Changelog 7.1.0.0:
 
 		<sourceFile filename="scripts/ai/AIUtil.lua"/>
 		<sourceFile filename="scripts/ai/ImplementUtil.lua"/>
+		<sourceFile filename="scripts/ai/PathfinderController.lua"/>
 		<sourceFile filename="scripts/ai/ProximityController.lua"/>
 		<sourceFile filename="scripts/ai/FieldWorkerProximityController.lua"/>
 		<sourceFile filename="scripts/ai/CollisionAvoidanceController.lua"/>

scripts/CpObject.lua

@@ -59,10 +59,47 @@ function CpObject(base, init)
 		end
 		return false
 	end
+	c.__tostring = function (self)
+		-- Default tostring function for printing all attributes and assigned functions.
+		local str = '[ '
+		for attribute, value in pairs(self) do
+			str = str .. string.format('%s: %s ', attribute, value)
+		end
+		str = str .. ']'
+		return str
+	end
+
 	setmetatable(c, mt)
 	return c
 end
 
+---@class CpObjectUtil
+CpObjectUtil = {
+	BUILDER_API_NIL = "nil"
+}
+
+--- Registers a builder api for a class.
+--- The attributes are set as private variables with "_" before the variable name 
+--- and the builder functions are named like the attribute.
+--- Nil values have to be replaced with CpObjectUtil.BUILDER_API_NIL !!
+---@param class table
+---@param attributesToDefault table<attributeName, any>
+function CpObjectUtil.registerBuilderAPI(class, attributesToDefault)
+	for attributeName, default in pairs(attributesToDefault) do 
+		if default == CpObjectUtil.BUILDER_API_NIL then 
+			default = nil
+		end
+		--- Applies the default value to the private variable
+		class["_" .. attributeName] = default
+		--- Creates the builder functions/ setters with the public variable name
+		class[attributeName] = function(self, value)
+			self["_" .. attributeName] = value	
+			return self		
+		end
+	end
+end
+
+
 --- Object that holds a value temporarily. You can tell when to set the value and how long it should keep that
 --- value, in milliseconds. Great for timers.
 ---@class CpTemporaryObject

scripts/ai/AIDriveStrategyCourse.lua

@@ -111,6 +111,10 @@ function AIDriveStrategyCourse:setAIVehicle(vehicle, jobParameters)
     self:initializeImplementControllers(vehicle)
     self.ppc = PurePursuitController(vehicle)
     self.ppc:registerListeners(self, 'onWaypointPassed', 'onWaypointChange')
+
+    self.pathfinderController = PathfinderController(vehicle)
+    self.pathfinderController:registerListeners(self, self.onPathfindingFinished, self.onPathfindingRetry)
+
     self.storage = vehicle.spec_cpAIWorker
 
     self.settings = vehicle:getCpSettings()
@@ -428,8 +432,9 @@ function AIDriveStrategyCourse:getCurrentCourse()
     return self.ppc:getCourse() or self.course
 end
 
-function AIDriveStrategyCourse:update()
+function AIDriveStrategyCourse:update(dt)
     self.ppc:update()
+    self.pathfinderController:update(dt)
     self:updatePathfinding()
     self:updateInfoTexts()
 end
@@ -579,6 +584,24 @@ end
 function AIDriveStrategyCourse:onWaypointPassed(ix, course)
 end
 
+--- Pathfinding has finished
+---@param controller PathfinderController
+---@param success boolean
+---@param course Course|nil
+---@param goalNodeInvalid boolean|nil
+function AIDriveStrategyCourse:onPathfindingFinished(controller, success, course, goalNodeInvalid)
+    -- override
+end
+
+--- Pathfinding failed, but a retry attempt is leftover.
+---@param controller PathfinderController
+---@param lastContext PathfinderControllerContext
+---@param wasLastRetry boolean
+---@param currentRetryAttempt number
+function AIDriveStrategyCourse:onPathfindingRetry(controller, lastContext, wasLastRetry, currentRetryAttempt)
+    -- override
+end
+
 ------------------------------------------------------------------------------------------------------------------------
 --- Pathfinding
 ---------------------------------------------------------------------------------------------------------------------------