add 飞行模式

flight_mode.py

@@ -0,0 +1,113 @@
+"""
+飞行模式逻辑：
+- 从坐标 JSON 读取最后一个坐标点作为目的地
+- 每帧调用 `CoordinatePatrol.simple_flight_navigate()` 执行：
+  1) 上马（未上马则先上马，mount_key/mount_hold_sec 从 game_state_config.json 读取）
+  2) 起飞
+  3) 飞向目的地坐标
+  4) 降落
+"""
+
+import json
+import logging
+
+from coordinate_patrol import CoordinatePatrol
+
+
+logger = logging.getLogger(__name__)
+
+
+def _load_last_waypoint_from_json(path):
+    """读取与巡逻相同的 JSON 格式：[[x,y], ...]，返回最后一个有效点 (x, y)。"""
+    if not path:
+        return None
+    try:
+        with open(path, "r", encoding="utf-8") as f:
+            data = json.load(f)
+    except Exception as e:
+        logger.warning("读取航线 JSON 失败: %s", e)
+        return None
+    if not isinstance(data, list):
+        return None
+    last = None
+    for item in data:
+        if isinstance(item, (list, tuple)) and len(item) >= 2:
+            try:
+                last = (float(item[0]), float(item[1]))
+            except (TypeError, ValueError):
+                continue
+    return last
+
+
+class FlightModeBot:
+    """飞行模式控制器：每次执行逻辑只推动状态前进一步。"""
+
+    def __init__(
+        self,
+        json_path,
+        log_callback=None,
+        *,
+        takeoff_key="space",
+        takeoff_hold_sec=2.0,
+        land_key="p",
+        land_hold_sec=2.0,
+    ):
+        self._log = log_callback or (lambda _m: None)
+        self.destination = _load_last_waypoint_from_json(json_path)
+        self.done = False
+
+        # 上马按键与时长来自 game_state_config.json
+        try:
+            from game_state import load_layout_config
+
+            cfg = load_layout_config()
+            mount_key = str(cfg.get("mount_key", "x") or "x")
+            mount_hold_sec = float(cfg.get("mount_hold_sec", 1.6))
+            mount_retry_after_sec = float(cfg.get("mount_retry_after_sec", 2.0))
+        except Exception:
+            mount_key, mount_hold_sec, mount_retry_after_sec = "x", 1.6, 2.0
+
+        # 只用于 simple_flight_navigate 内部的 _ensure_mounted 与一些公共参数
+        self._patrol = CoordinatePatrol(
+            waypoints=[(0.0, 0.0)] if self.destination else [],
+            mount_key=mount_key,
+            mount_hold_sec=mount_hold_sec,
+            mount_retry_after_sec=mount_retry_after_sec,
+        )
+
+        self.takeoff_key = takeoff_key
+        self.takeoff_hold_sec = float(takeoff_hold_sec)
+        self.land_key = land_key
+        self.land_hold_sec = float(land_hold_sec)
+
+        if not self.destination:
+            self._log("❌ 飞行模式：JSON 中无有效坐标点")
+            self.done = True
+
+    def execute_logic(self, state):
+        if self.done:
+            return
+        if state is None:
+            return
+        if not self.destination:
+            self.done = True
+            return
+
+        arrived = self._patrol.simple_flight_navigate(
+            state,
+            self.destination[0],
+            self.destination[1],
+            takeoff_key=self.takeoff_key,
+            takeoff_hold_sec=self.takeoff_hold_sec,
+            land_key=self.land_key,
+            land_hold_sec=self.land_hold_sec,
+            dismount_key=self._patrol.mount_key,
+            arrival_threshold=self._patrol.arrival_threshold,
+            mount_wait_sec=self._patrol.mount_hold_sec,
+        )
+
+        if arrived:
+            self._patrol.stop_all()
+            self.done = True
+            self._log("✅ 飞行模式：已到达目的地并降落完成")
+