From d5aade41efd9163317b73fa01a22ff465497f9c6 Mon Sep 17 00:00:00 2001
From: Peter Vaiko <github@vaiko.us>
Date: Mon, 28 Oct 2024 18:23:07 -0400
Subject: [PATCH] fix: added forgotten wait for pathfinder

Stop and wait for pathfinder when finding path to the next
waypoint.

#3563
---
 scripts/ai/AIDriveStrategyFieldWorkCourse.lua | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/scripts/ai/AIDriveStrategyFieldWorkCourse.lua b/scripts/ai/AIDriveStrategyFieldWorkCourse.lua
index b20382e17..d822be2bc 100644
--- a/scripts/ai/AIDriveStrategyFieldWorkCourse.lua
+++ b/scripts/ai/AIDriveStrategyFieldWorkCourse.lua
@@ -626,12 +626,14 @@ function AIDriveStrategyFieldWorkCourse:startPathfindingToNextWaypoint(ix)
     self.pathfinderController:registerListeners(self, self.onPathfindingDoneToNextWaypoint,
             self.onPathfindingFailedToNextWaypoint)
     self:debug('Start pathfinding to target waypoint %d, zOffset %.1f', ix + 1, zOffset)
+    self.state = self.states.WAITING_FOR_PATHFINDER
+    -- to have a course set while waiting for the pathfinder
+    self:startCourse(self.fieldWorkCourse, self.waypointToContinueOnFailedPathfinding)
     self.pathfinderController:findPathToNode(context, targetNode, 0, zOffset)
 end
 
 function AIDriveStrategyFieldWorkCourse:onPathfindingFailedToNextWaypoint()
-    self:debug('Pathfinding to next waypoint failed, use alignment course instead')
-    self:createAlignmentCourse(self.fieldWorkCourse, ix)
+    self:debug('Pathfinding to next waypoint failed, continue directly at waypoint %d', self.waypointToContinueOnFailedPathfinding)
     self.state = self.states.WORKING
     self:startCourse(self.fieldWorkCourse, self.waypointToContinueOnFailedPathfinding)
 end