started adding navigation

2026-02-13 10:43:35 -05:00 · 2026-02-13 10:43:35 -05:00 · 468e0a7246
commit 468e0a7246
parent 32781b1462
20 changed files with 844 additions and 31 deletions
--- a/src/Poe2Trade.Navigation/NavigationExecutor.cs
+++ b/src/Poe2Trade.Navigation/NavigationExecutor.cs
@ -0,0 +1,156 @@
+using Poe2Trade.Core;
+using Poe2Trade.Game;
+using Serilog;
+
+namespace Poe2Trade.Navigation;
+
+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 static readonly Random Rng = new();
+
+    public event Action<NavigationState>? StateChanged;
+    public NavigationState State => _state;
+
+    public NavigationExecutor(IGameController game, MinimapConfig? config = null)
+    {
+        _game = game;
+        _config = config ?? new MinimapConfig();
+        _capture = new MinimapCapture(_config);
+        _tracker = new PositionTracker(_config);
+        _worldMap = new WorldMap(_config);
+    }
+
+    private void SetState(NavigationState s)
+    {
+        _state = s;
+        StateChanged?.Invoke(s);
+    }
+
+    public Task Stop()
+    {
+        _stopped = true;
+        SetState(NavigationState.Idle);
+        Log.Information("Navigation executor stopped");
+        return Task.CompletedTask;
+    }
+
+    public void Reset()
+    {
+        _tracker.Reset();
+        _worldMap.Reset();
+        _stopped = false;
+        SetState(NavigationState.Idle);
+    }
+
+    public async Task RunExploreLoop()
+    {
+        _stopped = false;
+        Log.Information("Starting explore loop");
+
+        // Open minimap overlay (Tab)
+        await _game.ToggleMinimap();
+        await Helpers.Sleep(300);
+
+        while (!_stopped)
+        {
+            try
+            {
+                // 1. Capture frame
+                SetState(NavigationState.Capturing);
+                using var frame = _capture.CaptureFrame();
+                if (frame == null)
+                {
+                    Log.Warning("Failed to capture minimap frame");
+                    await Helpers.Sleep(200);
+                    continue;
+                }
+
+                // 2. Track position via phase correlation
+                SetState(NavigationState.Processing);
+                var pos = _tracker.UpdatePosition(frame.GrayMat);
+
+                // 3. Stitch into world map
+                _worldMap.StitchFrame(frame.ClassifiedMat, pos);
+
+                // 4. Check if stuck
+                if (_tracker.IsStuck)
+                {
+                    SetState(NavigationState.Stuck);
+                    Log.Information("Stuck detected, clicking random direction");
+                    await ClickRandomDirection();
+                    await Helpers.Sleep(_config.MovementWaitMs);
+                    continue;
+                }
+
+                // 5. Find best exploration direction
+                SetState(NavigationState.Planning);
+                var direction = _worldMap.FindNearestUnexplored(pos);
+
+                if (direction == null)
+                {
+                    Log.Information("Map fully explored");
+                    SetState(NavigationState.Completed);
+                    break;
+                }
+
+                // 6. Click to move in that direction
+                SetState(NavigationState.Moving);
+                await ClickToMove(direction.Value.dirX, direction.Value.dirY);
+
+                // 7. Wait for character to walk
+                await Helpers.Sleep(_config.MovementWaitMs);
+            }
+            catch (Exception ex)
+            {
+                Log.Error(ex, "Error in explore loop");
+                SetState(NavigationState.Failed);
+                await Helpers.Sleep(1000);
+            }
+        }
+
+        if (_state != NavigationState.Completed)
+            SetState(NavigationState.Idle);
+
+        Log.Information("Explore loop ended");
+    }
+
+    private async Task ClickToMove(double dirX, double dirY)
+    {
+        // Player is at minimap center on screen; click offset from center
+        var len = Math.Sqrt(dirX * dirX + dirY * dirY);
+        if (len < 0.001) return;
+
+        var nx = dirX / len;
+        var ny = dirY / len;
+
+        var clickX = _config.MinimapCenterX + (int)(nx * _config.ClickRadius);
+        var clickY = _config.MinimapCenterY + (int)(ny * _config.ClickRadius);
+
+        Log.Debug("Click to move: ({X}, {Y}) dir=({Dx:F2}, {Dy:F2})", clickX, clickY, nx, ny);
+        await _game.LeftClickAt(clickX, clickY);
+    }
+
+    private async Task ClickRandomDirection()
+    {
+        var angle = Rng.NextDouble() * 2 * Math.PI;
+        await ClickToMove(Math.Cos(angle), Math.Sin(angle));
+    }
+
+    public MapPosition Position => _tracker.Position;
+    public byte[] GetMapSnapshot() => _worldMap.GetMapSnapshot();
+    public byte[] GetViewportSnapshot(int viewSize = 400) => _worldMap.GetViewportSnapshot(_tracker.Position, viewSize);
+
+    public void Dispose()
+    {
+        _capture.Dispose();
+        _tracker.Dispose();
+        _worldMap.Dispose();
+    }
+}