From 7e262644638d740922ee38865da9e1ae9c0ed23e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=8E=8B=E9=B9=8F?= <wangpengv@yonyou.com>
Date: Wed, 25 Mar 2026 15:41:48 +0800
Subject: [PATCH] =?UTF-8?q?fixed=20=E4=BC=98=E5=8C=96=E7=A7=BB=E5=8A=A8?=
 =?UTF-8?q?=E9=80=BB=E8=BE=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 __pycache__/coordinate_patrol.cpython-311.pyc | Bin 23147 -> 23629 bytes
 coordinate_patrol.py                          |  33 +++++++++++-------
 docs/history.md                               |   9 +++++
 3 files changed, 30 insertions(+), 12 deletions(-)

diff --git a/__pycache__/coordinate_patrol.cpython-311.pyc b/__pycache__/coordinate_patrol.cpython-311.pyc
index 6a4e09b1c8a1be13518722067ab1214935be8f67..231199908bdc578af56aed23f5f1ac0cf7cdb55e 100644
GIT binary patch
delta 3392
zcmb_e4Qx}_6@J%_|DR(A>_D9Or;voa1QL?+o6!JEfDVWSNeHAZO-<fw;w0GgJ_ky0
z3Z-mIf3^V!wdxR*Ni9{yD20>(O$n4~n<i}%Y|)A=ZGtNNM4Q%3Yd5LVw4HOEUrIG;
z+C_XhKKH)!&in5D&bfd7kp1=|%Y4`Av`aWF2Y((7Z9bb>!&qxyJzH*KmOd~CSw78j
znZQYqN#G{%5#$o&_5HyTWCqy)|FkX#t8FH%3%SjPq(RNt38l7%9Ana$l-iBBR*VjT
z+@PA^sI8#DjC1DEDe0)BTJX1J?6+z?nxWc`nPA`2LU7nWv6|{7#oomk4BEfyxbwlq
zq03Nq@5S@Or}qzC{K4JVULLym%J6$X9X|5@=O4c|boqPtuN=8^^mwR&cWI%a{&$83
zuG~4(fB(Xnd;Ra;>p%VZ$G!J29KtAf-}qT57TFnXjU=?@M7()NJQ_=ch6aw^KmYpO
z({B&|<PuzQ<m99rsuoGKHR}mnrx=DAra5dtfSZoB*)!1K9)wgzH1=$Klp$Cm7Z&EB
zSIOXhnly>0QwCK}8DsHXdImZ}ICuc|%HOhPV9<TiNG4p972hrAv>!FS(sZ!rhO=PM
zS<q{^>2My*?p@Zq4DQMUECla3k6CyDM&SAIoy^%R0NXR?vpP7Q`E3^JyPa8KX8GXp
zwwlF0y5L2xr^F$$;E`CX#+Q)o;F_)_@T<C7I>ZO?VstAm?uV=1?_<ozvma-TeTTB^
zjHUVXE*rvd8z!n4`2vbyQMFdCX?n^ONkn25ib;GbUjbRZS@`?{Uky71yM1k#(`UZt
z49pJ={%3IFyniiw^KjrGe#xQ0wUyZv%OtW<m<XX0#YhbzUyjh7R~?UYH5$VW*bqtZ
zcxUOP<UfKV!9sjTf3U#9EO5K<tb_6${*WHu0LSLkEUP7xwoD1~BC_WYh+VVnitt!8
z*2*i$C311Jv}r9Jqs(~0U*y~CqDjFf@hAvP>w`Gsj}cI!ypiBZf)awc1VTMq$s!4*
zOgk`lotKhBs7oVDA()4tWTsgxBL^vhM<pp6$!^mk$Utk#+S0{2o>iUK!*7bVA)jSR
z5gX{+qLdpgA$%a*k^xtP9-9^Q^@fyW`yjZ!xbM@sHHJ-92`?@f9qsffVyM=W$oMH@
zT?{6D!#dl8>ypw58EywXa4VFRVXv2xaJF&=JX7ZPI=V5GDtBWNs-qjJ>#-&LhadBW
zd+bw!6SHEd&aVZxV^JW^#OM&|aXm46%p*zdSrE$42~HdHbO?i&;&ao-d?!32!Pn<c
zcTWCzFRUoc-8<Ryf1o4wizMYtr$~$rlDWhWCvB>E)HbNL7*nl14)O)YomO<(dgLk8
zIKW!&XEQ|lmE}{@cR_b~E-Qz9`5yRX!PGei%{j}{DG;{LM4D!Ty~4gFRy6e$V~hUx
zBcK|vIJ?1Dv3Bp+ag}&G#ub9&qIAURCyB6u(-!d!1f2xi31SF}Z;~>{waA~NdD<ne
z69^rO#zZwNEi$1bQeV>~`8`B=6Ge_E=;8k+zIs|D-n9Z&JQ`fQi+(>(u$zF+H{U~$
zB<MlVN$OP9CkEE{laE$fJa~BZdj@z~$vL+mmzlmaOU`Wg^+Nx&o3i^;Iq!FJ-VHf0
zC<m^~0VrDd3A+iuDrq#{k-ac$?uv}D)$%Qur?-oT=!G#jxG2u#bBo`S-475y3(iyr
z%%VXoh2K}Vdj-`K%%`^l>S|^)8|<vfXHUS<n#f*J6p8wjJ*r1z*s)?QTFQt`G0l4k
zy;cxAldSQQm9Ayf68J)b90GAupb9J6N}BQU>X@>$YS>K^oQvZ36fR3y+}MuDr{s-R
zKzMakIg{b?s#Vnw<DL$9%G?>z6U~W~u|wNEu@Nb!9(h)4R=ap45sk-m>cp^ebvA5R
zZ8qSRG_9^-YTxnIPn)m@{cBwg`!UQ|zqq!?q#6%MNkffv5+68)|I?$#oHXi=q*=|t
zf2Qvm=>x}RY?1+M>;vm9NsFkuMsvLc?j<=eY;?h2*88A$nH#cev*1mmORkZ&zWNk4
zr5<aK4W19rc3F~E)k?<-??bkP3w~(ynbEW-ZE&PkF=9}-T04)K;jgv1Gb~A4GUFs(
zuTG6$v3l%DJA}gGEq!al7Yw%6J)Za1-0nWI9N5MKL6RbNSkjPUNEu4!^Ow-nsV|C)
z$lDvM*+1a^#>!9#UE$$><5=BAXS%AYDunl^I|B#q?Y|VlTgRHZS&Kv?6-pgH2`QTv
z>)Ng%>)Ir>iT1c3!zd2CT)b5mSVO8xW$uV~b~fvsnzo}^*IH6$asSeJ8BMZi%AAOB
zJSHhig!AZ5P1PMZF`+EFI{m$_!hDyc^)i&yKVls*OTIvF<}IkLpU39Fp8A!AFWis|
z2j#-+a^Z-}Vw>~jG|4yn#G)HH#e+G;Ba+=#A^<+CuVy7s*ih@Ly5TM!bQfQD7ms9F
zoh7ipp$yN+xrS>?g^1G9!9>D%3z`rF)gW~E@ee<akYXJ=?F*)hX`bFx%%;Q5O$``n
zUgMLC$0MbfF3O@}m?&jvkB1rG8;V;5R~iE>7yi_^I4^__eBV;?S0XehEUXwB!itwq
zhw{zaB0-uFT9)bN8Ex6FCEDU@`sNa*Ng+ldKXG$;fqb+{`~<-V1bqaw&F@L+nj>yx
z*wH0!hA%dUT|Sd{L>h-BuyIRbW|)!lYuE{Y+*0W&F?mL$sqh4pG!<<NiJ%CI%rBBH
z%E?x;#OcZ+OYlw2l@qu862V6V{RASf%VdQJDA%v7%eKeWu1>9r55W1RUCY;5*&`#;
P!|`vz|HU`VilF}iw72-=

delta 3021
zcmaJ@eNa@_6@T|FZ@+lUF3PfeEc>A>@JIjwK{N_u1thi$l@FuX)U3P}7Gxp!Eio~>
z8jYP=<1|iBr^!qv5!$JZ<D{+Kv`W8XTKi`eI*c_t?X>yBNtjM&=%kruGM%R9+(l6O
zaTtDc-??wkyZ4;m`Q7{5>+COYv%K#)9Ciuqy^n6hKIyxf*Us1n=|0w`Fl!pjepa4~
zliWd&N8lvLCnzQG5|pLySo}=B!{8s*HYPzZSP0WSE&yAoSWe1GY1D+T2^$m0W!(hx
zwooVs=giAf(rc2g;Irlavu=JZN4LDLz)5=<Jkn}|@7gsOwZCdL^+}p_>Jtg<xu3!b
z)ebZ2p28yh8FwROa$@l#6U)m3=BNmkp;t3;A5AJoB9e$^O!0|h2CXU(2yj1y9gkV>
z;nNG!k_s0b8r*fvvLJjT?{&+fjQ&Li&CZR?4};E4EDSF>KgWXUTh0bEYXDX_+#!<W
zqWHFsXNRJbiP%IuV>%j*bCsM5kHm+gd<%_pdDMs|4jGB5p)s*uUWIPW$$juv;aBk!
zO`a~cH+{m>YpQL)8BXO{9ARP$jTFJ6M~8VdYGjm1A`)-V6tOej2LCGAfWHrxwzKna
zq;v$Ac)RpznfYL+?<t)4wr>ynCj8ZR0e5!7|0}<Tf+=D-8WS-L{ECG6K;*4(C=g^n
zhEstG4D@CoWMNjgRe3d+7Pa^`z0w2cs@k`IfrgYM&Ce@n93l{vupEo<cq~55>&PX(
zmpe2P9U5ESej(Vkl9QA-E;2~T5?RU;juOMS6SNWx5DXG%1l0tBj$fh?aWbP!;&u%F
zC^-aObsAL?Jc6L*Wm8o{4lBWkB*AwyH|vF2?J(xZTV2Iw(;e0Irt%=pcMs(t-ZupY
z#F>vKarBCmWG}$`;p+6wns%867HglBl&0-)s@4r}Z1TEo$MI#|ejFLD+m2%$Q?`T$
zZf`1UE5096l18bwgz34LF#lJm2Ev$>v|~TeK7@^l8Ez!}Fw;-~mu-2}J}%f>zdo0C
zFKl`pyl->E-SYgr#Dia14|_wUjt4yj@O=GR&rGPKB|ek1>E<!9acop)oauR~+=qO5
z=yRsjhdxjM^%Z5XduJhhy<uGqWq8?=4&8ML`Ei9fA}sar(j3sbqo{>R31Z2zjZ!-c
zOXjW3%9_vOk7X2{&&n%cN2A@W%cu_daItaE$@>+Scnm`cj&fpeKOd#%9s&|1ew1LG
zAWlGx9&Qx&>o%?U0amZ@m`~D+g#?^HaF{BYrLUmslmC~itG&++`kmmcpzA?;T;(h(
z134(8yq7?HrVZZR?9X`ypW#oNea?)-h#ZL?(x-TYv<LhiH?rB&w9Vo~))><=e7?Fk
z{d7|)bKF&3FNe>Czt(fU=WGw$Xnt2&GE069Za&)3X_bn+zxOo#&eQb6k$F$sf~W0l
z*T-h5EHG_-vwYrLx8SWi8@{Ky7u2#>N9NVa1+{Wct^A|vI=|;aYF-U3sG&JE1T{52
z_0P_Nvr{}s3m%8AmI>xaUvIgny4DnBBMf)=%=PqI3%t}Z>J|lAtxvWfVDH?>>`>cT
z&JI9dXXK>N7^+6b9y4Nb6!rKJs(LJ*$d+PNA&By;+03SyWR!0vC?OCh83~q<;%qrq
z#3o}Ij^dG#;C!Vx8H)=goP3&hxj3+EcRh2!)b5V0R1<!T;8}v_2x<{B=A#iKaVU{7
zjYXg1&yzbza0<boa}-!t5xBZ?WIT{cyV}`c`l+rjD=60Qgp1j?;Jxsc$InPfxm~)1
zFJHm`tfiEs$;eGAx(WYszG7PK@swhdWR$5j@0*imAzX?=dL>TlbGuydqwW$}H^Z%N
zKm1~c6aLw4Gg(qraBkRur*P5&wLKmfd(3IZW7?jy!eEc4P$UoRt*x>%JiCSZSxNmG
z%}HxA=Mrk=m6ek}WlP#Pi@Ot~qRX~=FVM|t`HR1iVXpU#pIQ_TBx)&5&d9Z!_=`9+
zNIt}2ZS?J8AHuc1Z6RV;_u^-0ot(l>kyf_0wgx`D_Je!BJoCZn*#K{V{QeEi;$RZp
zyV6)0TQoj39>s=<KG2KexH*ksG&`Qiv3_4OwOhtKIf2|VL>FdQEMrbYIPxN6iEti!
zCaN2#?sS(}Hmu;S{s!|OsP|5Tc_7H{Lft?OD}yHoc2*?jRqul8om0I_PK&MV<8@NW
z#_8ty;_8Ls>Ltl;3kran1G}*J)_q~;=6P3O!4;Tu1(x!yjv(m!>Tu?EX)(OD@A6jB
zF)PB=jW?ZD_LHhCUw!x+v=KJ;z_sV)C#snOKYgMfqdE5<+_DlW!wjK<nw*U#!pK>!
zQ<#-v;Fwpy%zht||Hl3;UaAOwuZ8?u5&AXOt;zk}nwuBE`U8g}0h$qwtI|y@HZ&eh
zj7;cR*$mU9=seMD;?z%(j|##s5`3TFDgl-BvXoUAabuy2Be%ev1Km!y;$D(gpcWbj
z6Ge|Ra{dP%hIa<H6;vt(OVY#83yy<ThiOBcB5NxD35|tzh#QAs(mL{qeAD%Y6W#eW
yg6jmc1Y%u3qmc+kYyH%^eSAWnIvQ=|KZjQi9&1Zk7*_qi<KKk;@Bd>~1pPMwIgkec

diff --git a/coordinate_patrol.py b/coordinate_patrol.py
index 2bd9b6a..b52e33a 100644
--- a/coordinate_patrol.py
+++ b/coordinate_patrol.py
@@ -304,7 +304,11 @@ class CoordinatePatrol:
         # 2. 距离判断
         dist = self.get_distance(current_pos, target_pos)
         if dist < threshold:
-            self.stop_all()
+            # 到点后保持平滑过渡：不松开 W，只松开左右修正键
+            # 避免 patrol 连续多点时出现“刹一下再走”的抖动。
+            pyautogui.keyUp("a")
+            pyautogui.keyUp("d")
+            self.reset_stuck()
             return True
 
         # 3. 计算角度差
@@ -325,26 +329,27 @@ class CoordinatePatrol:
             # 在死区内，确保转向键松开，直线前进
             pyautogui.keyUp("a")
             pyautogui.keyUp("d")
-        else:
-            # 在死区外，需要修正方向
+        elif abs_diff > self.angle_threshold_deg:
+            # 超出阈值：执行平滑脉冲转向
             turn_key = "d" if angle_diff > 0 else "a"
             other_key = "a" if angle_diff > 0 else "d"
             
             # 松开反方向键
             pyautogui.keyUp(other_key)
             
-            # 计算本次修正的时长
-            # 边走边转时，duration 应比原地转向更短，建议使用 0.05s - 0.1s 的短脉冲
+            # 获取针对平滑移动优化的短脉冲时长
             duration = self._turn_duration_from_angle(abs_diff)
-            
-            # 限制单次修正时间，防止转过头导致“画龙”
-            safe_duration = min(duration, 0.15) 
-            
+            # 关键：执行短促转向脉冲
             pyautogui.keyDown(turn_key)
-            time.sleep(safe_duration) # 短暂物理延迟确保按键生效
+            # sleep 极短 (建议 < 0.1s)，不会造成移动卡顿
+            time.sleep(duration)
             pyautogui.keyUp(turn_key)
             
             self.last_turn_end_time = time.time()
+        else:
+            # 在死区与阈值之间：为了平滑，不进行任何按键动作，仅靠 W 前进
+            pyautogui.keyUp("a")
+            pyautogui.keyUp("d")
 
         return False
 
@@ -490,6 +495,10 @@ class CoordinatePatrol:
         if not path:
             self.stop_all()
             return True
+
+        # 阻塞模式下的状态轮询间隔：尽量贴近“每帧高频控制”，避免转向脉冲后等待过久导致抖动。
+        poll_sleep_sec = 0.02
+
         points = [(float(p[0]), float(p[1])) for p in path]
         if not forward:
             points = points[::-1]
@@ -502,7 +511,7 @@ class CoordinatePatrol:
                 return False
             if self._ensure_mounted(state):
                 break
-            time.sleep(0.05)
+            time.sleep(poll_sleep_sec)
 
         for i, target in enumerate(points):
             self.logger.info(f">>> 路径点 {i + 1}/{len(points)}: {target}")
@@ -514,7 +523,7 @@ class CoordinatePatrol:
                 arrived = self.navigate_to_point(state, target, arrival_threshold)
                 if arrived:
                     break
-                time.sleep(0.05)
+                time.sleep(poll_sleep_sec)
         self.stop_all()
         self.logger.info(">>> 路径走完")
         return True
diff --git a/docs/history.md b/docs/history.md
index f65abde..180611c 100644
--- a/docs/history.md
+++ b/docs/history.md
@@ -50,3 +50,12 @@
 - **运行时透传**：`start_game_loop` → `GameLoopWorker` → `AutoBotMove` 全链路透传并生效。
 - **兼容性**：`AutoBotMove` 保留默认值，旧配置文件可直接运行。
 
+### `navigate_to_point` 对齐 `navigate` 优化
+
+- **到点处理**：`coordinate_patrol.py` 的 `navigate_to_point` 到达判定后不再调用 `stop_all()`，改为仅松开左右修正键并保持 `W` 前进，从而实现连续平滑过渡。
+- **转向触发逻辑**：`navigate_to_point` 转向决策按 `navigate` 的三档策略调整（死区直行、阈值外脉冲转向、死区与阈值之间不修正），降低航点附近左右抖动。
+
+### `navigate_path` 对齐 `navigate` 优化
+
+- **轮询间隔**：`coordinate_patrol.py` 的 `navigate_path` 阻塞等待轮询由固定 `time.sleep(0.05)` 调整为局部 `poll_sleep_sec = 0.02`，让阻塞模式控制频率更接近 `navigate`，减少航点/转向后的抖动。
+