398 lines
16 KiB
Python
398 lines
16 KiB
Python
"""
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坐标巡逻模块：按航点列表循环巡逻，朝向计算与 player_movement 约定一致（atan2(dx,-dy)）；内含卡死检测与脱困。
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"""
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import math
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import random
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import time
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import logging
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import pyautogui
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from stuck_handler import StuckHandler
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# 转向与死区常量（度）
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ANGLE_THRESHOLD_DEG = 15.0 # 朝向容差，超过此值才按 A/D 转向
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ANGLE_DEADZONE_DEG = 5.0 # 死区，此范围内不按 A/D、只按 W，减少左右微调
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# 随机行为：跳跃概率（每帧触发概率，0.005 ≈ 平均 200 帧一次）
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RANDOM_JUMP_PROB = 0.05
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class CoordinatePatrol:
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"""按航点坐标巡逻，用 pyautogui 按键转向与前进。"""
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def __init__(
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self,
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waypoints,
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arrival_threshold=0.5,
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angle_threshold_deg=ANGLE_THRESHOLD_DEG,
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angle_deadzone_deg=ANGLE_DEADZONE_DEG,
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random_jump_prob=RANDOM_JUMP_PROB,
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mount_key="x",
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mount_hold_sec=1.6,
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mount_retry_after_sec=2.0,
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):
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"""
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Args:
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waypoints: 航点列表，游戏坐标格式 [(x1, y1), (x2, y2), ...]，如 [(26.0, 78.0), (30.0, 82.0)]
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arrival_threshold: 到达判定距离（游戏坐标单位），默认 0.5
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angle_threshold_deg: 朝向容差（度），超过此值才按 A/D 转向，默认 ANGLE_THRESHOLD_DEG
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angle_deadzone_deg: 转向死区（度），此范围内不按 A/D、只按 W，默认 ANGLE_DEADZONE_DEG
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mount_key / mount_hold_sec / mount_retry_after_sec: 未上马时先上马（与 game_state_config / GUI 一致）
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"""
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self.waypoints = waypoints
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self.current_index = 0
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self.arrival_threshold = arrival_threshold
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self.angle_threshold_deg = angle_threshold_deg
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self.angle_deadzone_deg = angle_deadzone_deg
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self.random_jump_prob = float(random_jump_prob)
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self.logger = logging.getLogger(__name__)
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self.last_turn_end_time = 0 # 最近一次结束 A/D 转向的时间，供卡死检测排除原地转向
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self.stuck_handler = StuckHandler()
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self._next_mount_allowed = 0.0
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self.mount_key = str(mount_key).strip() or "x"
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self.mount_hold_sec = float(mount_hold_sec)
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self.mount_retry_after_sec = float(mount_retry_after_sec)
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def _ensure_mounted(self, state):
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"""
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已上马返回 True。
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未上马则松开移动键、按住上马键 MOUNT_HOLD_SEC，本帧不走路；返回 False。
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state 无 mounted 字段时视为无法判断，不拦巡逻（兼容未开 LogicBeacon）。
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"""
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if "mounted" not in state:
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return True
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if state.get("mounted"):
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return True
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self.stop_all()
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now = time.time()
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if now < self._next_mount_allowed:
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return False
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self.logger.info(
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f">>> 未上马，先按 {self.mount_key} {self.mount_hold_sec:.1f}s 上马"
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)
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pyautogui.keyDown(self.mount_key)
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time.sleep(self.mount_hold_sec)
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pyautogui.keyUp(self.mount_key)
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self._next_mount_allowed = time.time() + self.mount_retry_after_sec
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return False
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@staticmethod
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def get_distance(p1, p2):
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return math.sqrt((p1[0] - p2[0]) ** 2 + (p1[1] - p2[1]) ** 2)
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def snap_to_forward_waypoint(self, current_pos, max_ahead=10, max_dist=10.0, skip_current=True):
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"""
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根据当前位置，将巡逻索引 current_index 智能“接回”前方最近的航点。
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典型场景：战斗结束后，角色可能偏离路径，希望从前进方向上的最近航点继续巡逻，
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而不是跑回战斗前的旧航点。
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Args:
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current_pos: 当前坐标 (x, y)，游戏坐标。
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max_ahead: 向前最多查看多少个航点（以 current_index 为起点），默认 10。
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max_dist: 认为“可以接回”的最大距离阈值，超过则不调整索引，单位同坐标，默认 10.0。
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skip_current: 是否跳过 current_index 本身，直接从下一个点开始找，避免立刻又去原来的点。
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Returns:
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bool: True 表示已调整 current_index；False 表示未调整（距离太远或数据不完整）。
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"""
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if current_pos is None:
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return False
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if not self.waypoints:
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return False
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try:
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cx, cy = float(current_pos[0]), float(current_pos[1])
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except Exception:
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return False
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n = len(self.waypoints)
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if n == 0:
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return False
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start_idx = (self.current_index + (1 if skip_current else 0)) % n
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best_idx = None
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best_dist = None
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# 在 current_index 之后的若干个点里寻找最近的一个
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for offset in range(max_ahead + 1):
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idx = (start_idx + offset) % n
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wp = self.waypoints[idx]
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d = self.get_distance((cx, cy), (float(wp[0]), float(wp[1])))
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if (best_dist is None) or (d < best_dist):
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best_dist = d
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best_idx = idx
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if best_idx is None or best_dist is None:
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return False
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if best_dist > float(max_dist):
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# 离前方所有点都太远，则不强行跳索引，维持原行为
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return False
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# 将当前巡逻索引接到前方最近的点或其后一个点
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self.current_index = best_idx
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self.reset_stuck()
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self.logger.info(
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f">>> 战斗结束智能接回巡逻：current_pos={current_pos}, "
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f"接入点索引={best_idx}, 距离={best_dist:.2f}"
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)
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return True
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def get_target_heading_deg(self, current_pos, target_pos):
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"""计算朝向目标所需的游戏朝向（度）。dx_actual ∝ sin(heading)，dy_actual ∝ -cos(heading) → 目标朝向 = atan2(dx, -dy)。"""
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dx = target_pos[0] - current_pos[0]
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dy = target_pos[1] - current_pos[1]
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if dx == 0 and dy == 0:
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return 0.0
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return math.degrees(math.atan2(dx, -dy)) % 360
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def _turn_duration_from_angle(self, angle_diff_deg):
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"""
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专门为“边走边转”设计的非线性脉冲函数。
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逻辑：
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- 大于 45°：给予一个较长脉冲，快速切入方向。
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- 15° 到 45°：线性修正。
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- 小于 15°：极小脉冲，防止在直线上摇摆。
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"""
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abs_angle = abs(angle_diff_deg)
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# 基础转向系数 (针对边走边转优化，值越小越不容易画龙)
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# 推荐范围 0.002 - 0.0035
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scale_factor = 0.0025
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if abs_angle > 45:
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# 大角度：给予一个明显的转向力，但不超过 0.2s 避免丢失 W 的推力感
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base_duration = min(abs_angle * scale_factor * 1.2, 0.20)
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elif abs_angle > 15:
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# 中角度：标准线性修正
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base_duration = abs_angle * scale_factor
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else:
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# 小角度微调：使用极短脉冲 (物理按键触发的底线)
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base_duration = 0.04
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# 随机化：模拟人工轻点按键的不规则性
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# 这里的随机范围要小，否则会导致修正量不稳定
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jitter = random.uniform(0.005, 0.015)
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final_duration = base_duration + jitter
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# 最终安全检查：严禁超过 0.25s，否则会造成明显的顿挫
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return min(final_duration, 0.25)
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def reset_stuck(self):
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"""重置卡死检测状态（切航点、停止巡逻、死亡/后勤/战斗时由外部调用）。"""
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self.stuck_handler.reset()
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def navigate(self, state):
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"""
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优化版导航：支持边走边转，非阻塞平滑移动。
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"""
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if state is None:
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self.stop_all()
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return
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# 1. 基础状态解析与校验
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x, y = state.get("x"), state.get("y")
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heading = state.get("facing")
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if x is None or y is None or heading is None:
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self.logger.warning("state 数据不完整，跳过导航帧")
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self.stop_all()
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return
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if not self._ensure_mounted(state):
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return
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# 2. 卡死检测：位移检测逻辑保持在巡逻中
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if self.stuck_handler.check_stuck(state, self.last_turn_end_time):
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self.logger.error("!!! 检测到卡死，启动脱困程序 !!!")
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self.stop_all()
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self.stuck_handler.resolve_stuck()
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return
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curr_pos = (float(x), float(y))
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heading = float(heading)
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target_pos = self.waypoints[self.current_index]
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dist = self.get_distance(curr_pos, target_pos)
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# 3. 到达判定（到点后平滑切换下一个航点，不再完全刹车）
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if dist < self.arrival_threshold:
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self.logger.info(f">>> 到达航点 {self.current_index}，切换至下一目标（平滑过渡）")
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self.current_index = (self.current_index + 1) % len(self.waypoints)
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# 重置卡死检测，避免在航点附近因为轻微抖动被误判卡死
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self.reset_stuck()
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# 不再调用 stop_all()，让 W 保持按下，下一帧直接朝下一个航点继续前进
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return
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# 4. 计算航向逻辑
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target_heading = self.get_target_heading_deg(curr_pos, target_pos)
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angle_diff = (target_heading - heading + 180) % 360 - 180
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abs_diff = abs(angle_diff)
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# --- [平滑移动核心：边走边转控制层] ---
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# A. 始终保持前进动力
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pyautogui.keyDown("w")
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# B. 转向决策逻辑
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if abs_diff <= self.angle_deadzone_deg:
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if random.random() < self.random_jump_prob: # 频率建议设低，约每 200 帧跳一次
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self.logger.info(">>> 随机跳跃：模拟真人并辅助脱困")
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pyautogui.press("space")
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# 在死区内：绝对直线行驶，松开所有转向键
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pyautogui.keyUp("a")
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pyautogui.keyUp("d")
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elif abs_diff > self.angle_threshold_deg:
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# 超出阈值：执行平滑脉冲转向
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turn_key = "d" if angle_diff > 0 else "a"
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other_key = "a" if angle_diff > 0 else "d"
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# 确保不会同时按下左右键
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pyautogui.keyUp(other_key)
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# 获取针对平滑移动优化的短脉冲时长
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duration = self._turn_duration_from_angle(abs_diff)
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# 关键：执行短促转向脉冲
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pyautogui.keyDown(turn_key)
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# 这里的 sleep 极短 (建议 < 0.1s)，不会造成移动卡顿
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time.sleep(duration)
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pyautogui.keyUp(turn_key)
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self.last_turn_end_time = time.time()
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# self.logger.debug(f"修正航向: {turn_key} | 角度差: {angle_diff:.1f}°")
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else:
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# 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
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pyautogui.keyUp("a")
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pyautogui.keyUp("d")
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return
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def navigate_to_point(self, state, target_pos, arrival_threshold=None):
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"""
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优化版：平滑导航，支持边走边转。
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"""
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if state is None:
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self.stop_all()
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return False
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current_pos = (state.get('x'), state.get('y'))
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current_facing = state.get('facing')
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if None in current_pos or current_facing is None:
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self.stop_all()
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return False
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if not self._ensure_mounted(state):
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return False
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# 1. 卡死检测
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if self.stuck_handler.check_stuck(state, self.last_turn_end_time):
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self.stop_all()
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self.stuck_handler.resolve_stuck()
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return False
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current_pos = (float(current_pos[0]), float(current_pos[1]))
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current_facing = float(current_facing)
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threshold = arrival_threshold if arrival_threshold is not None else self.arrival_threshold
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# 2. 距离判断
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dist = self.get_distance(current_pos, target_pos)
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if dist < threshold:
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self.stop_all()
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return True
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# 3. 计算角度差
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target_heading = self.get_target_heading_deg(current_pos, target_pos)
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angle_diff = (target_heading - current_facing + 180) % 360 - 180
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abs_diff = abs(angle_diff)
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# --- 平滑移动核心逻辑 ---
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# 只要没到终点，始终保持前进 W 键按下
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pyautogui.keyDown("w")
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# 4. 根据偏角决定转向动作
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if abs_diff <= self.angle_deadzone_deg:
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if random.random() < self.random_jump_prob: # 频率建议设低，约每 200 帧跳一次
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self.logger.info(">>> 随机跳跃：模拟真人并辅助脱困")
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pyautogui.press("space")
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# 在死区内，确保转向键松开，直线前进
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pyautogui.keyUp("a")
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pyautogui.keyUp("d")
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else:
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# 在死区外，需要修正方向
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turn_key = "d" if angle_diff > 0 else "a"
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other_key = "a" if angle_diff > 0 else "d"
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# 松开反方向键
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pyautogui.keyUp(other_key)
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# 计算本次修正的时长
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# 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
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duration = self._turn_duration_from_angle(abs_diff)
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# 限制单次修正时间，防止转过头导致“画龙”
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safe_duration = min(duration, 0.15)
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pyautogui.keyDown(turn_key)
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time.sleep(safe_duration) # 短暂物理延迟确保按键生效
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pyautogui.keyUp(turn_key)
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self.last_turn_end_time = time.time()
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return False
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def navigate_path(self, get_state, path, forward=True, arrival_threshold=None):
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"""
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按 path 依次走完所有点后返回。每次调用都必须传入 path。
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get_state: 可调用对象，每次调用返回当前状态 dict，需包含 'x','y','facing'。
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若含 'mounted'（LogicBeacon），路径开始前会先上马，每段 navigate_to_point 也会校验。
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path: [[x,y], ...] 或 [(x,y), ...]（如 json.load 得到），本次要走的全部航点。
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forward: True=正序（0→n），False=倒序（n→0）。
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阻塞直到走完 path 中所有点或出错，走完返回 True。内含卡死检测。
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"""
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if not path:
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self.stop_all()
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return True
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points = [(float(p[0]), float(p[1])) for p in path]
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if not forward:
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points = points[::-1]
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# 路径开始前：若 state 含 mounted 且未上马，先完成上马再逐点移动
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while True:
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state = get_state()
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if state is None:
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self.stop_all()
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return False
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if self._ensure_mounted(state):
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break
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time.sleep(0.05)
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for i, target in enumerate(points):
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self.logger.info(f">>> 路径点 {i + 1}/{len(points)}: {target}")
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while True:
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state = get_state()
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if state is None:
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self.stop_all()
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return False
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arrived = self.navigate_to_point(state, target, arrival_threshold)
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if arrived:
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break
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time.sleep(0.05)
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self.stop_all()
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self.logger.info(">>> 路径走完")
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return True
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def press_key(self, key):
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"""只按下指定键，抬起其他移动键。"""
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for k in ("w", "a", "d"):
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if k == key:
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pyautogui.keyDown(k)
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else:
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pyautogui.keyUp(k)
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def stop_all(self):
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for key in ["w", "a", "s", "d"]:
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||
pyautogui.keyUp(key)
|