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minimap

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Boki 2026-02-13 13:01:55 -05:00
parent 6bc3fb6972
commit 40f013d07e
5 changed files with 129 additions and 129 deletions
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32
src/Poe2Trade.Navigation/NavigationExecutor.cs
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@ -9,10 +9,11 @@ public class NavigationExecutor : IDisposable
private readonly IGameController _game;
private readonly MinimapConfig _config;
private readonly MinimapCapture _capture;
private readonly PositionTracker _tracker;
private readonly WorldMap _worldMap;
private NavigationState _state = NavigationState.Idle;
private bool _stopped;
private int _stuckCounter;
private MapPosition? _lastPosition;
private static readonly Random Rng = new();
public event Action<NavigationState>? StateChanged;
@ -23,7 +24,6 @@ public class NavigationExecutor : IDisposable
_game = game;
_config = config ?? new MinimapConfig();
_capture = new MinimapCapture(_config);
_tracker = new PositionTracker(_config);
_worldMap = new WorldMap(_config);
}
@ -43,9 +43,10 @@ public class NavigationExecutor : IDisposable
public void Reset()
{
_tracker.Reset();
_worldMap.Reset();
_stopped = false;
_stuckCounter = 0;
_lastPosition = null;
SetState(NavigationState.Idle);
}
@ -77,8 +78,19 @@ public class NavigationExecutor : IDisposable
}
SetState(NavigationState.Processing);
var pos = _tracker.UpdatePosition(frame.GrayMat);
_worldMap.StitchFrame(frame.ClassifiedMat, pos);
var pos = _worldMap.MatchAndStitch(frame.ClassifiedMat, frame.WallMask);
// Stuck detection: position hasn't moved enough over several frames
if (_lastPosition != null)
{
var dx = pos.X - _lastPosition.X;
var dy = pos.Y - _lastPosition.Y;
if (Math.Sqrt(dx * dx + dy * dy) < _config.StuckThreshold)
_stuckCounter++;
else
_stuckCounter = 0;
}
_lastPosition = pos;
// 2. Movement decisions at slower rate
var now = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
@ -86,7 +98,7 @@ public class NavigationExecutor : IDisposable
{
lastMoveTime = now;
if (_tracker.IsStuck)
if (_stuckCounter >= _config.StuckFrameCount)
{
SetState(NavigationState.Stuck);
Log.Information("Stuck detected, clicking random direction");
@ -152,9 +164,9 @@ public class NavigationExecutor : IDisposable
await ClickToMove(Math.Cos(angle), Math.Sin(angle));
}
public MapPosition Position => _tracker.Position;
public MapPosition Position => _worldMap.Position;
public byte[] GetMapSnapshot() => _worldMap.GetMapSnapshot();
public byte[] GetViewportSnapshot(int viewSize = 400) => _worldMap.GetViewportSnapshot(_tracker.Position, viewSize);
public byte[] GetViewportSnapshot(int viewSize = 400) => _worldMap.GetViewportSnapshot(_worldMap.Position, viewSize);
/// <summary>
/// Capture one frame, track position, stitch into world map.
@ -165,8 +177,7 @@ public class NavigationExecutor : IDisposable
using var frame = _capture.CaptureFrame();
if (frame == null) return null;
var pos = _tracker.UpdatePosition(frame.GrayMat);
_worldMap.StitchFrame(frame.ClassifiedMat, pos);
var pos = _worldMap.MatchAndStitch(frame.ClassifiedMat, frame.WallMask);
if (stage == MinimapDebugStage.WorldMap)
return _worldMap.GetViewportSnapshot(pos);
@ -179,7 +190,6 @@ public class NavigationExecutor : IDisposable
public void Dispose()
{
_capture.Dispose();
_tracker.Dispose();
_worldMap.Dispose();
}
}