fix: recovery turn logic

Also, proximity controller calls the blocked object listener
once only, then restarts the timer.

#3512

scripts/CpObject.lua

@@ -125,9 +125,9 @@ end
 
 --- Set temporary value for object
 ---@param value any the temporary value
----@param expiryMs number for expiryMs milliseconds after startMs, the object will return the value set above,
+---@param expiryMs number|nil for expiryMs milliseconds after startMs, the object will return the value set above,
 --- valueWhenExpired otherwise. When nil, it'll remain value forever
----@param startMs number after starMs milliseconds from now, the object will return the value set above
+---@param startMs number|nil after starMs milliseconds from now, the object will return the value set above
 --- (for expiryMs milliseconds). When nil, the value is set immediately.
 function CpTemporaryObject:set(value, expiryMs, startMs)
 	self.value = value

scripts/ai/ProximityController.lua

@@ -207,6 +207,7 @@ function ProximityController:getDriveData(maxSpeed, moveForwards)
                 -- have been blocked by an object long enough
                 CpUtil.debugVehicle(CpDebug.DBG_TRAFFIC, self.vehicle, 'An object has been blocking us for a while at %.1f m', d)
                 self:onBlockingObject(not moveForwards)
+                self.blockingObject:set(false, nil, nil)
             elseif not self.blockingObject:isPending() then
                 -- first time we are being blocked
                 CpUtil.debugVehicle(CpDebug.DBG_TRAFFIC, self.vehicle, 'An object blocking us at %.1f m', d)

scripts/ai/turns/AITurn.lua

@@ -105,13 +105,18 @@ function AITurn:turn()
     return nil, nil, nil, self:getForwardSpeed()
 end
 
-function AITurn:onBlocked()
+function AITurn:startRecoveryTurn(...)
+    -- clean up before giving back the control to the drive strategy
     -- unregister here before the AITurn object is destructed
     self.proximityController:unregisterBlockingObjectListener()
     -- restore onWaypoint* listeners before giving back control to the drive strategy, otherwise they'll be lost
     -- when the recovery turn is instantiated and registers its own listeners
     self.ppc:restorePreviouslyRegisteredListeners()
-    self.driveStrategy:startRecoveryTurn(1 * self.turningRadius)
+    self.driveStrategy:startRecoveryTurn(...)
+end
+
+function AITurn:onBlocked()
+    self:startRecoveryTurn(1 * self.turningRadius)
 end
 
 function AITurn:onWaypointChange(ix)
@@ -834,14 +839,13 @@ function RecoveryTurn:onWaypointPassed(ix, course)
 end
 
 function RecoveryTurn:onBlocked()
-    -- unregister here before the AITurn object is destructed
-    self.proximityController:unregisterBlockingObjectListener()
     if self.retryCount < 1 then
         self:debug('Recovering from blocked turn unsuccessful after %d tries, trying again.', self.retryCount + 1)
         -- back up a bit more and see if that works
-        self.driveStrategy:startRecoveryTurn(0.5 * self.turningRadius, self.retryCount + 1)
+        self:startRecoveryTurn(0.5 * self.turningRadius, self.retryCount + 1)
     else
         self:debug('Recovering from blocked turn unsuccessful, giving up after %d tries.', self.retryCount + 1)
+        self:resumeFieldworkAfterTurn(self.turnContext.turnEndWpIx)
     end
 end