Fieldwork course loop

config/MasterTranslations.xml

@@ -643,6 +643,14 @@
 			<Text language="de"><![CDATA[Versucht beim Wendemanöver auf dem Feld zu bleiben. Nicht mit allen Geräten möglich. Wenn ausgeschaltet, wird das Gerät nicht rückwärts fahren.]]></Text>
 			<Text language="en"><![CDATA[Only turning on the field. Not possible with all tools. If turned off, the tool won't drive in reverse.]]></Text>
 		</Translation>
+		<Translation name="CP_vehicle_setting_restartCourseAtEnd_title">
+			<Text language="de"><![CDATA[Kurs am Ende neu starten]]></Text>
+			<Text language="en"><![CDATA[Restart course at the end]]></Text>
+		</Translation>
+		<Translation name="CP_vehicle_setting_restartCourseAtEnd_tooltip">
+			<Text language="de"><![CDATA[Startet den Feldkurs am ersten Wegpunkt erneut.]]></Text>
+			<Text language="en"><![CDATA[Restart the fieldwork course at the 1st waypoint.]]></Text>
+		</Translation>
 		<Translation name="CP_vehicle_setting_avoidFruit_title">
 			<Text language="de"><![CDATA[Fruchtumfahrung]]></Text>
 			<Text language="en"><![CDATA[Avoid driving in fruit]]></Text>

config/VehicleSettingsSetup.xml

@@ -27,8 +27,8 @@
 
 		<!--Open hud with mouse-->
 		<Setting classType="AIParameterBooleanSetting" name="fuelSave" defaultBool="true" isExpertModeOnly="true"/>
-		<!--Stop At End-->
-		<!--<Setting classType="AIParameterBooleanSetting" name="stopAtEnd" defaultBool="true" isExpertModeOnly="true"/> turn this setting off for now, as it is not active right now.-->
+		<!--Restart course at end-->
+		<Setting classType="AIParameterBooleanSetting" name="restartCourseAtEnd" defaultBool="false" isExpertModeOnly="true"/>
 		<!--Turn on Field-->
 		<Setting classType="AIParameterBooleanSetting" name="turnOnField" defaultBool="true" isVisible="areCourseSettingsVisible"/>
 		<!--Avoid Fruit-->

scripts/ai/strategies/AIDriveStrategyFieldWorkCourse.lua

@@ -445,7 +445,8 @@ end
 --- State changes
 -----------------------------------------------------------------------------------------------------------------------
 function AIDriveStrategyFieldWorkCourse:finishFieldWork()
-    if self.settings.returnToStart:getValue() and self.fieldWorkCourse:startsWithHeadland() then
+    if (self.settings.returnToStart:getValue() and self.fieldWorkCourse:startsWithHeadland()) or
+            self.settings.restartCourseAtEnd:getValue() then
         self:debug('Fieldwork ended, returning to first waypoint.')
         self.vehicle:prepareForAIDriving()
         self:returnToStartAfterDone()
@@ -530,9 +531,15 @@ function AIDriveStrategyFieldWorkCourse:onPathfindingDoneToReturnToStart(path)
         self:debug('Pathfinding to return to start finished with %d waypoints (%d ms)',
                 #path, g_currentMission.time - (self.pathfindingStartedAt or 0))
         local returnCourse = Course(self.vehicle, CpMathUtil.pointsToGameInPlace(path), true)
-        self.state = self.states.RETURNING_TO_START
-        self.waitingForPrepare:set(true, 10000)
-        self:startCourse(returnCourse, 1)
+        if self.settings.restartCourseAtEnd:getValue() then
+            self:debug('Returning to the first waypoint and then restarting the fieldwork course')
+            self:startAlignmentTurn(self.fieldWorkCourse, 1, returnCourse)
+        else
+            self:debug('Returning to the first waypoint and stopping there')
+            self.state = self.states.RETURNING_TO_START
+            self.waitingForPrepare:set(true, 10000)
+            self:startCourse(returnCourse, 1)
+        end
     else
         self:debug('No path found to return to fieldwork start after work is done (%d ms), stopping job',
                 g_currentMission.time - (self.pathfindingStartedAt or 0))

translations/translation_br.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="final"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Virar no campo"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Virar no campo. Não é possível com todos os implementos."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Evite dirigir na plantação"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="AI evitará dirigir na plantação"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Distancia horizontal do implemento"/>

translations/translation_cs.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="晚些"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="仅在田地范围内作业"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="不超出田地范围，对某些工具无效。"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="避开作物"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="工人将尽量避免开车碾压种植作物。"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="工具横向调整"/>

translations/translation_ct.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="晚些"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="僅在田地範圍內作業"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="不超出田地範圍，對某些工具無效。"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="避開作物"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="工人將盡量避免開車碾壓種植作物。"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="工具橫向調整"/>

translations/translation_cz.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="Pozdě"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Otáčení pouze na poli"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Nastaví otáčení pouze na poli. Není možné pro všechny nástroje."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Vyhnout se vjíždění do plodin"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="Umělá inteligence se pokusí vyhnout vjíždění do plodin."/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Horizontální odsazení nástroje"/>

translations/translation_da.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="Sent"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Vende i mark"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Forsøger at lave vendemanøvre i marken. Ikke muligt med alle redskaber."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Udenomskørsel af afgrøde"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="Forsøger så vidt muligt at køre udenom afgrøder."/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Redskab forskudt vandret"/>

translations/translation_de.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="spät"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Wenden auf dem Feld"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Versucht beim Wendemanöver auf dem Feld zu bleiben. Nicht mit allen Geräten möglich. Wenn ausgeschaltet, wird das Gerät nicht rückwärts fahren."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Kurs am Ende neu starten"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Startet den Feldkurs am ersten Wegpunkt erneut."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Fruchtumfahrung"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="Versucht nach Möglichkeit, nicht in der Frucht zu fahren."/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Geräteversatz horizontal"/>

translations/translation_ea.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="Después"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Solo giros dentro del campo"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Puede no ser posible con todos las herramientas."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Evitar conducir sobre los cultivos"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="El conductor intentará evitar conducir sobre los cultivos"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Desplazamiento de Herramientas"/>

translations/translation_en.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="late"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Only turning on the field"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Only turning on the field. Not possible with all tools. If turned off, the tool won't drive in reverse."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Avoid driving in fruit"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="The AI will try to avoid driving in the fruit."/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Tool offset horizontal"/>

translations/translation_es.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="Después"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Solo giros dentro del campo"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Puede no ser posible con todos las herramientas."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Evitar conducir sobre los cultivos"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="El conductor intentará evitar conducir sobre los cultivos"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Desplazamiento de Herramientas"/>

translations/translation_fc.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="late"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Only turning on the field"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Only turning on the field. Not possible with all tools."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Avoid driving in fruit"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="The AI will try to avoid driving in the fruit"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Tool offset horizontal"/>

translations/translation_fi.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="late"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Only turning on the field"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Only turning on the field. Not possible with all tools."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Avoid driving in fruit"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="The AI will try to avoid driving in the fruit"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Tool offset horizontal"/>

translations/translation_fr.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="tard"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Manoeuvrer uniquement dans le champ"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Manoeuvres uniquement dans le champ. Impossible avec certains outils."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Eviter les cultures"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="L'IA essayera d'éviter le plus possible de rouler dans les cultures."/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Décalage horizontal de l'outil"/>

translations/translation_hu.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="késéssel"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Forduljon a szántóföldön belül"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Maradjon a szántóföldön a táblavégi fodulóban. Nem minden eszközzel elérhető."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Kerülje a terményt"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="Az AI megpróbálja elkerülni, hogy a terménybe hajtson"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Szerszámeltolás oldalra"/>

translations/translation_id.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="late"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Only turning on the field"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Only turning on the field. Not possible with all tools. If turned off, the tool won't drive in reverse."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Avoid driving in fruit"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="The AI will try to avoid driving in the fruit."/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Tool offset horizontal"/>

translations/translation_it.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="Ritarda"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Svolta sul campo"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Svolta solo sul campo. Non è possibile con alcuni attrezzi"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Evita il raccolto"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="L'IA cercherà di evitare di guidare sul raccolto"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Correzione oriz."/>

translations/translation_jp.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="遅い"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="フィールド内で旋回（ターン）"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="フィールド内でのみ旋回を行います（ただし旋回が行えない作業機もあります）"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="作物の回避"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="AIヘルパーが作物を踏みつぶさないよう走行します"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="ツールオフセット（水平）"/>

translations/translation_kr.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="늦게"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="필드 내 곡선주행만"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="필드 내에서만 곡선주행을 수행합니다. 모든 장비에서 가능하지는 않습니다."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="작물 피해 방지"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="AI가 작물을 밟지 않도록 주행합니다."/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="장비 수평 간격 설정"/>

translations/translation_nl.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="laat"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Alleen draaien op het veld"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Alleen draaien op het veld. Niet mogelijk met alle werktuigen."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Vermijd rijden in fruit"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="De AI zal proberen te voorkomen dat je in het fruit rijdt"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Werktuig horizontale offset"/>

translations/translation_no.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="late"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Only turning on the field"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Only turning on the field. Not possible with all tools."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Avoid driving in fruit"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="The AI will try to avoid driving in the fruit"/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Tool offset horizontal"/>

translations/translation_pl.xml

@@ -201,6 +201,8 @@
     <text name="CP_vehicle_setting_lowerImplementEarly_late" text="Później"/>
     <text name="CP_vehicle_setting_turnOnField_title" text="Zawracanie tylko na polu"/>
     <text name="CP_vehicle_setting_turnOnField_tooltip" text="Ustala czy pomocnik ma zawracać tylko na polu (niemożliwe dla wszystkich narzędzi)."/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_title" text="Restart course at the end"/>
+    <text name="CP_vehicle_setting_restartCourseAtEnd_tooltip" text="Restart the fieldwork course at the 1st waypoint."/>
     <text name="CP_vehicle_setting_avoidFruit_title" text="Unikaj ugniatania upraw"/>
     <text name="CP_vehicle_setting_avoidFruit_tooltip" text="Pomocnik spróbuje uniknąć jazdy na skróty przez uprawy."/>
     <text name="CP_vehicle_setting_toolOffsetX_title" text="Przes. poziome dla narzędzi"/>