add 飞行模式

coordinate_patrol.py

@@ -343,6 +343,136 @@ class CoordinatePatrol:
 
         return False
 
+    def simple_flight_navigate(
+        self,
+        state,
+        target_x,
+        target_y,
+        *,
+        takeoff_key="space",
+        takeoff_hold_sec=2.0,
+        land_key="p",
+        land_hold_sec=4.0,
+        dismount_key=None,
+        arrival_threshold=0.003,
+        turn_deadzone_deg=5.0,
+        mount_wait_sec=2.5,
+    ):
+        """
+        极简飞行导航：只做 1.上马 2.起飞 3.飞向坐标 4.降落。
+
+        说明：
+        - 当前项目的飞行状态使用 `state['flight']`（0/0.5/1），并换算到 0..255 再按阈值判断阶段。
+        - 只做“极简控制”，不包含卡死检测与复杂脱困逻辑。
+        """
+        if state is None:
+            return False
+
+        curr_x, curr_y = state.get("x"), state.get("y")
+        curr_facing = state.get("facing")
+        if None in (curr_x, curr_y, curr_facing):
+            return False
+
+        # 统一 mount 逻辑：优先使用 mounted 字段
+        if "mounted" in state and state.get("mounted") is False:
+            # 用与其它逻辑一致的上马方式，按 game_state_config 的 mount_key/mount_hold_sec
+            ok = self._ensure_mounted(state)
+            return False if not ok else False
+
+        # 归一化飞行信号：把 state['flight'] 映射为 0..255
+        flight_raw = state.get("flight", None)
+
+        f_signal = None
+        if isinstance(flight_raw, (int, float)):
+            # 若是三档 0/0.5/1，则换算到 0..255
+            if float(flight_raw) <= 1.0:
+                f_signal = float(flight_raw) * 255.0
+            else:
+                f_signal = float(flight_raw)
+
+        # 没有飞行信息：只能退化为“先尝试上马，再尝试起飞”
+        if f_signal is None:
+            ok = self._ensure_mounted(state)
+            if not ok:
+                return False
+            pyautogui.keyDown(str(takeoff_key))
+            time.sleep(float(takeoff_hold_sec))
+            pyautogui.keyUp(str(takeoff_key))
+            return False
+
+        # 计算距离
+        dist = math.sqrt((target_x - float(curr_x)) ** 2 + (target_y - float(curr_y)) ** 2)
+        dismount_key = str(dismount_key).strip() if dismount_key else self.mount_key
+        dismount_key = dismount_key or "x"
+
+        # --- 1. 上马阶段（兼容你的阈值写法：f_signal < 10） ---
+        if f_signal < 10:
+            # 退化：直接按 mount_key 一次并等待
+            self.logger.info(">>> 飞行阶段检测：未上马，先按 %s", self.mount_key)
+            pyautogui.press(self.mount_key)
+            time.sleep(float(mount_wait_sec))
+            return False
+
+        # --- 2. 起飞阶段（兼容你的阈值写法：100~200） ---
+        if 100 < f_signal < 200:
+            self.logger.info(">>> 起飞：按住 %s %.1f 秒", takeoff_key, float(takeoff_hold_sec))
+            pyautogui.keyDown(str(takeoff_key))
+            time.sleep(float(takeoff_hold_sec))
+            pyautogui.keyUp(str(takeoff_key))
+            return False
+
+        # --- 3. 巡航与降落判定（兼容你的阈值写法：>240） ---
+        if f_signal > 240:
+            if dist > float(arrival_threshold):
+                # A. 始终按住 W 前进
+                pyautogui.keyDown("w")
+
+                # B. 修正方向（使用与本模块一致的朝向计算）
+                target_heading = self.get_target_heading_deg((float(curr_x), float(curr_y)), (float(target_x), float(target_y)))
+                angle_diff = (target_heading - float(curr_facing) + 180) % 360 - 180
+                abs_diff = abs(angle_diff)
+
+                # 在死区内：确保转向键松开，减少左右抖动
+                if abs_diff <= float(turn_deadzone_deg):
+                    pyautogui.keyUp("a")
+                    pyautogui.keyUp("d")
+                    return False
+
+                # 防止“上一个修正刚结束，下一帧立刻反向再修正”造成摆头
+                now = time.time()
+                last_t = getattr(self, "_last_simple_flight_turn_time", 0.0)
+                if now - last_t < 0.08:
+                    return False
+
+                key = "d" if angle_diff > 0 else "a"
+                other_key = "a" if key == "d" else "d"
+                pyautogui.keyUp(other_key)
+                pyautogui.keyDown(key)
+
+                # 修正脉冲时长随角度误差变化，避免固定 0.05s 过冲/欠冲
+                duration = self._turn_duration_from_angle(abs_diff)
+                safe_duration = min(float(duration), 0.12)
+                # 误差只略大于死区时，进一步缩短，减少接近目标时的来回摆
+                if abs_diff < float(turn_deadzone_deg) * 1.8:
+                    safe_duration = min(safe_duration, 0.04)
+
+                time.sleep(safe_duration)
+                pyautogui.keyUp(key)
+                setattr(self, "_last_simple_flight_turn_time", now)
+                return False
+
+            # C. 到达目标，执行降落
+            pyautogui.keyUp("w")
+            self.logger.info(">>> 到达目标，执行降落：按住 %s %.1f 秒", land_key, float(land_hold_sec))
+            pyautogui.keyDown(str(land_key))
+            time.sleep(float(land_hold_sec))
+            pyautogui.keyUp(str(land_key))
+            pyautogui.press(dismount_key)
+            self.logger.info(">>> 降落完成：已按 %s", dismount_key)
+            return True
+
+        return False
+
     def navigate_path(self, get_state, path, forward=True, arrival_threshold=None):
         """
         按 path 依次走完所有点后返回。每次调用都必须传入 path。