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initial BFS movement

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This commit is contained in:
Boki 2026-02-13 16:56:44 -05:00
parent 25257e1517
commit 490fb8bdba
7 changed files with 258 additions and 101 deletions
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26
src/Poe2Trade.Bot/BotOrchestrator.cs
View file

@ -236,6 +236,32 @@ public class BotOrchestrator : IAsyncDisposable
Log.Information("Bot started");
}
public async Task StartMapping()
{
LogWatcher.Start();
await Game.FocusGame();
Navigation.StateChanged += _ => UpdateExecutorState();
_started = true;
Emit("info", "Starting map exploration...");
State = "Exploring";
_ = Navigation.RunExploreLoop().ContinueWith(t =>
{
if (t.IsFaulted)
{
Log.Error(t.Exception!, "Explore loop failed");
Emit("error", $"Explore loop failed: {t.Exception?.InnerException?.Message}");
}
else
{
Emit("info", "Exploration finished");
}
State = "Idle";
StatusUpdated?.Invoke();
});
}
public async ValueTask DisposeAsync()
{
Log.Information("Shutting down bot...");

2
src/Poe2Trade.Game/GameController.cs
View file

@ -75,4 +75,6 @@ public class GameController : IGameController
public Task HoldCtrl() => _input.KeyDown(InputSender.VK.CONTROL);
public Task ReleaseCtrl() => _input.KeyUp(InputSender.VK.CONTROL);
public Task ToggleMinimap() => _input.PressKey(InputSender.VK.TAB);
public Task KeyDown(int vkCode) => _input.KeyDown(vkCode);
public Task KeyUp(int vkCode) => _input.KeyUp(vkCode);
}

2
src/Poe2Trade.Game/IGameController.cs
View file

@ -20,4 +20,6 @@ public interface IGameController
Task HoldCtrl();
Task ReleaseCtrl();
Task ToggleMinimap();
Task KeyDown(int vkCode);
Task KeyUp(int vkCode);
}

3
src/Poe2Trade.Game/InputSender.cs
View file

@ -31,6 +31,9 @@ public class InputSender
public const int A = 0x41;
public const int C = 0x43;
public const int I = 0x49;
public const int W = 0x57;
public const int S = 0x53;
public const int D = 0x44;
}
public async Task PressKey(int vkCode)

87
src/Poe2Trade.Navigation/NavigationExecutor.cs
View file

@ -58,19 +58,19 @@ public class NavigationExecutor : IDisposable
_stopped = false;
Log.Information("Starting explore loop");
// Open minimap overlay (Tab)
await _game.ToggleMinimap();
await Helpers.Sleep(300);
var lastMoveTime = long.MinValue;
var lastMoveTime = 0L;
var lastClickTime = 0L;
var heldKeys = new HashSet<int>(); // currently held WASD keys
try
{
while (!_stopped)
{
var frameStart = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
try
{
// 1. Capture + track every frame (~30 fps)
// 1. Capture + track every frame
SetState(NavigationState.Capturing);
using var frame = _capture.CaptureFrame();
if (frame == null)
@ -85,7 +85,7 @@ public class NavigationExecutor : IDisposable
if (_worldMap.LastMatchSucceeded)
_capture.CommitWallColors();
// Stuck detection: position hasn't moved enough over several frames
// Stuck detection
if (_lastPosition != null)
{
var dx = pos.X - _lastPosition.X;
@ -97,21 +97,22 @@ public class NavigationExecutor : IDisposable
}
_lastPosition = pos;
// 2. Movement decisions at slower rate
// 2. Movement decisions (faster re-evaluation when stuck)
var now = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
if (now - lastMoveTime >= _config.MovementWaitMs)
var moveInterval = _stuckCounter >= _config.StuckFrameCount
? 200
: _config.MovementWaitMs;
if (now - lastMoveTime >= moveInterval)
{
lastMoveTime = now;
if (_stuckCounter >= _config.StuckFrameCount)
{
SetState(NavigationState.Stuck);
Log.Information("Stuck detected, clicking random direction");
await ClickRandomDirection();
}
else
{
SetState(NavigationState.Planning);
// BFS finds path through explored cells to nearest frontier
var direction = _worldMap.FindNearestUnexplored(pos);
if (direction == null)
@ -122,8 +123,23 @@ public class NavigationExecutor : IDisposable
}
SetState(NavigationState.Moving);
await ClickToMove(direction.Value.dirX, direction.Value.dirY);
await UpdateWasdKeys(heldKeys, direction.Value.dirX, direction.Value.dirY);
if (_stuckCounter >= _config.StuckFrameCount)
_stuckCounter = 0; // reset after re-routing
}
// 3. Occasional combat clicks near screen center
if (now - lastClickTime >= 1000 + Rng.Next(1000))
{
lastClickTime = now;
var cx = 1280 + Rng.Next(-150, 150);
var cy = 720 + Rng.Next(-150, 150);
await _game.LeftClickAt(cx, cy);
await Helpers.Sleep(100 + Rng.Next(100));
cx = 1280 + Rng.Next(-150, 150);
cy = 720 + Rng.Next(-150, 150);
await _game.RightClickAt(cx, cy);
}
}
catch (Exception ex)
@ -140,6 +156,13 @@ public class NavigationExecutor : IDisposable
if (sleepMs > 0)
await Helpers.Sleep(sleepMs);
}
}
finally
{
// Always release held keys
foreach (var key in heldKeys)
await _game.KeyUp(key);
}
if (_state != NavigationState.Completed)
SetState(NavigationState.Idle);
@ -147,6 +170,39 @@ public class NavigationExecutor : IDisposable
Log.Information("Explore loop ended");
}
/// <summary>
/// Convert a direction vector to WASD key holds. Releases keys no longer needed,
/// presses new ones. Supports diagonal movement (two keys at once).
/// </summary>
private async Task UpdateWasdKeys(HashSet<int> held, double dirX, double dirY)
{
var wanted = new HashSet<int>();
// Threshold for diagonal: if both components are significant, hold both keys
const double threshold = 0.3;
if (dirY < -threshold) wanted.Add(InputSender.VK.W); // up
if (dirY > threshold) wanted.Add(InputSender.VK.S); // down
if (dirX < -threshold) wanted.Add(InputSender.VK.A); // left
if (dirX > threshold) wanted.Add(InputSender.VK.D); // right
// If direction is too weak, default to W
if (wanted.Count == 0) wanted.Add(InputSender.VK.W);
// Release keys no longer wanted
foreach (var key in held.Except(wanted).ToList())
{
await _game.KeyUp(key);
held.Remove(key);
}
// Press newly wanted keys
foreach (var key in wanted.Except(held).ToList())
{
await _game.KeyDown(key);
held.Add(key);
}
}
private async Task ClickToMove(double dirX, double dirY)
{
// Player is at minimap center on screen; click offset from center
@ -169,6 +225,7 @@ public class NavigationExecutor : IDisposable
await ClickToMove(Math.Cos(angle), Math.Sin(angle));
}
public bool IsExploring => _state != NavigationState.Idle && _state != NavigationState.Completed && _state != NavigationState.Failed;
public MapPosition Position => _worldMap.Position;
public byte[] GetMapSnapshot() => _worldMap.GetMapSnapshot();
public byte[] GetViewportSnapshot(int viewSize = 400) => _worldMap.GetViewportSnapshot(_worldMap.Position, viewSize);

126
src/Poe2Trade.Navigation/WorldMap.cs
View file

@ -323,57 +323,119 @@ public class WorldMap : IDisposable
return totalBlocks > 0 ? (double)cleanBlocks / totalBlocks : 1.0;
}
public (double dirX, double dirY)? FindNearestUnexplored(MapPosition pos, int searchRadius = 200)
/// <summary>
/// BFS through walkable (Explored) cells to find the nearest frontier
/// (Explored cell adjacent to Unknown/Fog). Returns direction toward the
/// first step on the shortest path, respecting walls.
/// </summary>
public (double dirX, double dirY)? FindNearestUnexplored(MapPosition pos, int searchRadius = 400)
{
var cx = (int)Math.Round(pos.X);
var cy = (int)Math.Round(pos.Y);
var bestAngle = double.NaN;
var bestScore = 0;
const int sectorCount = 16;
var fogRadius = _config.CaptureSize / 2;
// BFS at half resolution for speed (step=2 → ~200x200 effective grid for r=400)
const int step = 2;
var size = _config.CanvasSize;
var rr = searchRadius / step;
var gridW = 2 * rr + 1;
for (var sector = 0; sector < sectorCount; sector++)
// Visited grid + parent tracking (encode parent as single int)
var visited = new bool[gridW * gridW];
var parentX = new short[gridW * gridW];
var parentY = new short[gridW * gridW];
var queue = new Queue<(int gx, int gy)>(4096);
var startGx = rr;
var startGy = rr;
visited[startGy * gridW + startGx] = true;
parentX[startGy * gridW + startGx] = -1;
parentY[startGy * gridW + startGx] = -1;
queue.Enqueue((startGx, startGy));
// 8-connected neighbors
ReadOnlySpan<int> dxs = [-1, 0, 1, -1, 1, -1, 0, 1];
ReadOnlySpan<int> dys = [-1, -1, -1, 0, 0, 1, 1, 1];
int foundGx = -1, foundGy = -1;
while (queue.Count > 0)
{
var angle = 2 * Math.PI * sector / sectorCount;
var score = 0;
var (gx, gy) = queue.Dequeue();
for (var r = fogRadius - 20; r <= fogRadius + searchRadius; r += 5)
// Map grid coords back to canvas coords
var wx = cx + (gx - rr) * step;
var wy = cy + (gy - rr) * step;
// Check if this explored cell borders Unknown/Fog (= frontier)
if (gx != startGx || gy != startGy) // skip player cell
{
for (var spread = -15; spread <= 15; spread += 5)
for (var d = 0; d < 8; d++)
{
var sampleAngle = angle + spread * Math.PI / 180;
var sx = cx + (int)(r * Math.Cos(sampleAngle));
var sy = cy + (int)(r * Math.Sin(sampleAngle));
if (sx < 0 || sx >= _config.CanvasSize || sy < 0 || sy >= _config.CanvasSize)
continue;
var cell = _canvas.At<byte>(sy, sx);
if (cell == (byte)MapCell.Fog)
score += 2; // prefer visible fog (we know there's unexplored area)
else if (cell == (byte)MapCell.Unknown)
score++;
var nx = wx + dxs[d] * step;
var ny = wy + dys[d] * step;
if (nx < 0 || nx >= size || ny < 0 || ny >= size) continue;
var neighbor = _canvas.At<byte>(ny, nx);
if (neighbor == (byte)MapCell.Unknown || neighbor == (byte)MapCell.Fog)
{
foundGx = gx;
foundGy = gy;
goto Found;
}
}
}
if (score > bestScore)
// Expand to walkable neighbors
for (var d = 0; d < 8; d++)
{
bestScore = score;
bestAngle = angle;
var ngx = gx + dxs[d];
var ngy = gy + dys[d];
if (ngx < 0 || ngx >= gridW || ngy < 0 || ngy >= gridW) continue;
var idx = ngy * gridW + ngx;
if (visited[idx]) continue;
var nwx = cx + (ngx - rr) * step;
var nwy = cy + (ngy - rr) * step;
if (nwx < 0 || nwx >= size || nwy < 0 || nwy >= size) continue;
var cell = _canvas.At<byte>(nwy, nwx);
if (cell != (byte)MapCell.Explored) continue; // only walk through explored
visited[idx] = true;
parentX[idx] = (short)gx;
parentY[idx] = (short)gy;
queue.Enqueue((ngx, ngy));
}
}
if (bestScore == 0 || double.IsNaN(bestAngle))
{
Log.Information("No unexplored area found within search radius");
Log.Information("BFS: no reachable frontier within {Radius}px", searchRadius);
return null;
Found:
// Trace back to first step from start
var traceX = foundGx;
var traceY = foundGy;
while (true)
{
var idx = traceY * gridW + traceX;
var px = parentX[idx];
var py = parentY[idx];
if (px == startGx && py == startGy)
break; // traceX/traceY is the first step
traceX = px;
traceY = py;
}
var dirX = Math.Cos(bestAngle);
var dirY = Math.Sin(bestAngle);
Log.Debug("Best exploration direction: angle={Angle:F1}deg score={Score}",
bestAngle * 180 / Math.PI, bestScore);
var dirX = (double)(traceX - startGx);
var dirY = (double)(traceY - startGy);
var len = Math.Sqrt(dirX * dirX + dirY * dirY);
if (len < 0.001) return (1, 0); // shouldn't happen
dirX /= len;
dirY /= len;
var dist = Math.Sqrt((foundGx - startGx) * (foundGx - startGx) + (foundGy - startGy) * (foundGy - startGy)) * step;
Log.Debug("BFS: frontier at {Dist:F0}px, first step dir=({Dx:F2},{Dy:F2})", dist, dirX, dirY);
return (dirX, dirY);
}

19
src/Poe2Trade.Ui/ViewModels/MainWindowViewModel.cs
View file

@ -34,7 +34,7 @@ public partial class MainWindowViewModel : ObservableObject
[DllImport("user32.dll")]
private static extern short GetAsyncKeyState(int vKey);
private const int VK_F12 = 0x7B;
private const int VK_END = 0x23;
[ObservableProperty]
private string _state = "Idle";
@ -130,6 +130,9 @@ public partial class MainWindowViewModel : ObservableObject
{
try
{
if (_bot.Mode == BotMode.Mapping)
await _bot.StartMapping();
else
await _bot.Start([]);
IsStarted = true;
}
@ -186,10 +189,10 @@ public partial class MainWindowViewModel : ObservableObject
try
{
// F12 hotkey — edge-detect (trigger once per press)
var f12Down = (GetAsyncKeyState(VK_F12) & 0x8000) != 0;
if (f12Down && !f12WasDown)
var endDown = (GetAsyncKeyState(VK_END) & 0x8000) != 0;
if (endDown && !f12WasDown)
{
Log.Information("F12 pressed — emergency stop");
Log.Information("END pressed — emergency stop");
await _bot.Navigation.Stop();
_bot.Pause();
Avalonia.Threading.Dispatcher.UIThread.Post(() =>
@ -198,10 +201,12 @@ public partial class MainWindowViewModel : ObservableObject
State = "Stopped (F12)";
});
}
f12WasDown = f12Down;
f12WasDown = endDown;
// Minimap capture + display
var bytes = _bot.Navigation.ProcessFrame(SelectedMinimapStage);
// Minimap display: if explore loop owns capture, just render viewport
var bytes = _bot.Navigation.IsExploring
? _bot.Navigation.GetViewportSnapshot()
: _bot.Navigation.ProcessFrame(SelectedMinimapStage);
if (bytes != null)
{
var bmp = new Bitmap(new MemoryStream(bytes));