mirror of
https://github.com/babalae/better-genshin-impact.git
synced 2026-04-25 22:29:47 +08:00
411 lines
16 KiB
C#
411 lines
16 KiB
C#
using BetterGenshinImpact.Core.Simulator;
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using BetterGenshinImpact.GameTask.AutoPathing.Handler;
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using BetterGenshinImpact.GameTask.AutoPathing.Model;
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using BetterGenshinImpact.GameTask.AutoPathing.Model.Enum;
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using BetterGenshinImpact.GameTask.AutoTrackPath;
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using BetterGenshinImpact.GameTask.Common.BgiVision;
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using BetterGenshinImpact.GameTask.Common.Map;
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using CommunityToolkit.Mvvm.Messaging;
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using CommunityToolkit.Mvvm.Messaging.Messages;
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using Microsoft.Extensions.Logging;
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using OpenCvSharp;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using Vanara.PInvoke;
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using static BetterGenshinImpact.GameTask.Common.TaskControl;
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namespace BetterGenshinImpact.GameTask.AutoPathing;
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public class PathExecutor(CancellationTokenSource cts)
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{
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private readonly CameraRotateTask _rotateTask = new(cts);
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private static DateTime _lastActionTime = DateTime.MinValue;
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private static int _lastActionIndex = 0;
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private static Random _ran = new Random();
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private static int _randomAngle = 0;
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public async Task Pathing(PathingTask task)
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{
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if (!task.Positions.Any())
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{
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Logger.LogWarning("没有路径点，寻路结束");
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return;
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}
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InitializePathing(task);
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var waypoints = ConvertWaypointsForTrack(task.Positions);
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await Delay(100, cts);
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Navigation.WarmUp(); // 提前加载地图特征点
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try
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{
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foreach (var waypoint in waypoints)
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{
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if (waypoint.Type == WaypointType.Teleport.Code)
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{
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await HandleTeleportWaypoint(waypoint);
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}
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else
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{
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// Path不用走得很近，Target需要接近，但都需要先移动到对应位置
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await MoveTo(waypoint);
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if (waypoint.Type == WaypointType.Target.Code || !string.IsNullOrEmpty(waypoint.Action))
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{
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await MoveCloseTo(waypoint);
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// 到达点位后执行 action
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await AfterMoveToTarget(waypoint);
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}
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}
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}
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}
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finally
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{
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// 不管咋样，松开所有按键
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Simulation.SendInput.Keyboard.KeyUp(User32.VK.VK_W);
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Simulation.SendInput.Mouse.RightButtonUp();
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}
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}
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private void InitializePathing(PathingTask task)
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{
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WeakReferenceMessenger.Default.Send(new PropertyChangedMessage<object>(this,
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"UpdateCurrentPathing", new object(), task));
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}
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private List<WaypointForTrack> ConvertWaypointsForTrack(List<Waypoint> positions)
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{
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// 把 X Y 转换为 MatX MatY
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return positions.Select(waypoint => new WaypointForTrack(waypoint)).ToList();
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}
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private async Task HandleTeleportWaypoint(WaypointForTrack waypoint)
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{
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var forceTp = waypoint.Action == ActionEnum.ForceTp.Code;
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var (tpX, tpY) = await new TpTask(cts).Tp(waypoint.GameX, waypoint.GameY, forceTp);
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var (tprX, tprY) = MapCoordinate.GameToMain2048(tpX, tpY);
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EntireMap.Instance.SetPrevPosition((float)tprX, (float)tprY); // 通过上一个位置直接进行局部特征匹配
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}
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private async Task MoveTo(WaypointForTrack waypoint)
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{
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var screen = CaptureToRectArea();
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var position = Navigation.GetPosition(screen);
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var targetOrientation = Navigation.GetTargetOrientation(waypoint, position);
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Logger.LogInformation("粗略接近途经点，位置({x2},{y2})", $"{waypoint.GameX:F1}", $"{waypoint.GameY:F1}");
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await _rotateTask.WaitUntilRotatedTo(targetOrientation, 5);
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var startTime = DateTime.UtcNow;
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var lastPositionRecord = DateTime.UtcNow;
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var fastMode = false;
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var prevPositions = new List<Point2f>();
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var fastmodeColdTime = DateTime.UtcNow;
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// 按下w，一直走
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Simulation.SendInput.Keyboard.KeyDown(User32.VK.VK_W);
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while (!cts.IsCancellationRequested)
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{
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var now = DateTime.UtcNow;
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if ((now - startTime).TotalSeconds > 240)
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{
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Logger.LogWarning("执行超时，跳过路径点");
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break;
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}
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screen = CaptureToRectArea();
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position = Navigation.GetPosition(screen);
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var distance = Navigation.GetDistance(waypoint, position);
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Debug.WriteLine($"接近目标点中，距离为{distance}");
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if (distance < 4)
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{
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Logger.LogInformation("到达路径点附近");
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break;
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}
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if (distance > 500)
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{
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Logger.LogWarning("距离过远，跳过路径点");
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break;
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}
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// 非攀爬状态下，检测是否卡死（大脱困触发器）
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if (waypoint.MoveMode != MoveModeEnum.Climb.Code)
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{
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// &&后面的条件是用于执行小脱困时屏蔽大脱困，防止二者同时执行或交替执行导致角度变换过大
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if ((now - lastPositionRecord).TotalMilliseconds > 1000 && (DateTime.Now - _lastActionTime).TotalSeconds > 2)
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{
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lastPositionRecord = now;
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prevPositions.Add(position);
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if (prevPositions.Count > 8)
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{
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var delta = prevPositions[^1] - prevPositions[^8];
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if (Math.Abs(delta.X) + Math.Abs(delta.Y) < 3)
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{
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Logger.LogWarning("疑似卡死，尝试脱离");
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//调用大脱困代码
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await EscapeTrap();
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Simulation.SendInput.Keyboard.KeyDown(User32.VK.VK_W);
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continue;
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}
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}
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}
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}
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// 旋转视角
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/* 这里的角度增加了一个randomAngle角度，用来在原角度不适用的情况下修改角度以适应复杂环境
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randomAngle会定期归零，不会任何程度上影响路径追踪的结果（指到达既设点位）
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randomAngle为类变量，会在需要修改角度的情况下进行更改，更改时会附带有重置计时器_lastActionTime的代码
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更改角度的代码会
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总体的自动避障逻辑为：
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0. 检测是否卡在障碍物上，如果是则执行大脱困
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1. 检测前面是否有障碍物，如果是则执行小脱困
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2. 重复0和1，角度会一直增加，达到“转一圈”的360度脱困效果，若成功脱困则将randomAngle归零
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*/
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targetOrientation = Navigation.GetTargetOrientation(waypoint, position) + _randomAngle;
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//执行旋转
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_rotateTask.RotateToApproach(targetOrientation, screen);
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//
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//这里是随机角度的归零逻辑，在脱困执行一秒后将randomAngle设为0以将实际角度重置为正面向点位的角度
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//其实就是在一段时间内进行角度的修改以实现自动避障
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if (_randomAngle != 0)
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{
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_randomAngle %= 360; //角度增加到360度时也会归零
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if ((DateTime.Now - _lastActionTime).TotalSeconds > 1)
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_randomAngle = 0;
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}
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//
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// 根据指定方式进行移动
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if (waypoint.MoveMode == MoveModeEnum.Fly.Code)
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{
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var isFlying = Bv.GetMotionStatus(screen) == MotionStatus.Fly;
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if (!isFlying)
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{
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Debug.WriteLine("未进入飞行状态，按下空格");
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_SPACE);
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await Delay(200, cts);
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}
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continue;
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}
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if (waypoint.MoveMode == MoveModeEnum.Climb.Code)
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{
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if (Bv.GetMotionStatus(screen) != MotionStatus.Climb)
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{
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Debug.WriteLine("未进入攀爬状态，按下空格");
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_SPACE);
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await Delay(200, cts);
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}
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continue;
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}
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if (waypoint.MoveMode == MoveModeEnum.Jump.Code)
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{
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_SPACE);
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await Delay(200, cts);
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continue;
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}
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// 设置为非攀爬时误进入攀爬，自动脱离（小脱困）
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// 小脱困逻辑，在进入攀爬时，即后一帧会自动脱离，因此无需再执行脱困代码
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// 进入攀爬就代表前面有较高的物体（障碍物）阻挡，所以必须“旋转角度”以辅助绕过障碍物！！！
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// 先排除攀爬和飞行的情况
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if (waypoint.MoveMode != MoveModeEnum.Climb.Code &&
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waypoint.MoveMode != MoveModeEnum.Fly.Code)
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if (Bv.GetMotionStatus(screen) == MotionStatus.Climb)
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{
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Debug.WriteLine("进入攀爬状态，按下x");
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_X);
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//重置计时器
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_lastActionTime = DateTime.Now;
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//！！！！！！！！这里修改了randomAngle的值，用于在脱困后随机旋转角度！！！！！！！！
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_randomAngle += _ran.Next(15, 30);
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continue;
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}
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// 只有设置为run才会一直疾跑
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if (waypoint.MoveMode == MoveModeEnum.Run.Code)
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{
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if (distance > 20 != fastMode) // 距离大于30时可以使用疾跑/自由泳
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{
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if (fastMode)
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{
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Simulation.SendInput.Mouse.RightButtonUp();
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}
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else
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{
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Simulation.SendInput.Mouse.RightButtonDown();
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}
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fastMode = !fastMode;
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}
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}
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else if (waypoint.MoveMode != MoveModeEnum.Climb.Code)//否则自动短疾跑
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{
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if (distance > 10)
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{
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if (Math.Abs((fastmodeColdTime-now).TotalMilliseconds) > 2500) //冷却时间2.5s，回复体力用
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{
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fastmodeColdTime = now;
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Simulation.SendInput.Mouse.RightButtonClick();
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}
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}
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}
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await Delay(100, cts);
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}
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// 抬起w键
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Simulation.SendInput.Keyboard.KeyUp(User32.VK.VK_W);
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}
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private bool IsStuck(DateTime now, DateTime lastPositionRecord, List<Point2f> prevPositions, Point2f position)
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{
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if ((now - lastPositionRecord).TotalMilliseconds > 1000)
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{
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prevPositions.Add(position);
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if (prevPositions.Count > 8)
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{
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var delta = prevPositions[^1] - prevPositions[^8];
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if (Math.Abs(delta.X) + Math.Abs(delta.Y) < 3)
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{
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return true;
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}
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}
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}
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return false;
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}
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// 大脱困逻辑，
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private async Task EscapeTrap()
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{
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//！！！！！！！！这里修改了randomAngle的值，用于在脱困后随机旋转角度！！！！！！！！
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_randomAngle += _ran.Next(15, 30);
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// 脱离攀爬状态
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Simulation.SendInput.Keyboard.KeyUp(User32.VK.VK_W);
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await Delay(1500, cts);
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_X);
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await Delay(75, cts);
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Simulation.SendInput.Mouse.LeftButtonClick();
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await Delay(500, cts);
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TimeSpan timeSinceLastAction = DateTime.Now - _lastActionTime;
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if (timeSinceLastAction.TotalSeconds >= 5) //调用间隔大于5秒识别为成功脱困后的下一次脱困
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{
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// 从零开始
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_lastActionIndex = 0;
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}
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else
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{
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// 使用下一个动作
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_lastActionIndex++;
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}
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var difference = _lastActionIndex * 1000;
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switch (_lastActionIndex%3)
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{
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case 0:
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// 向后移动
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Simulation.SendInput.Keyboard.KeyDown(User32.VK.VK_S);
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await Task.Delay(500);
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_SPACE);
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await Task.Delay(1000+difference);
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Simulation.SendInput.Keyboard.KeyUp(User32.VK.VK_S);
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break;
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case 1:
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// 向左移动
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Simulation.SendInput.Keyboard.KeyDown(User32.VK.VK_A);
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await Task.Delay(300);
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_SPACE);
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await Task.Delay(700+difference);
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Simulation.SendInput.Keyboard.KeyUp(User32.VK.VK_A);
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_X);
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await Delay(500, cts);
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break;
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case 2:
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// 向右移动
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Simulation.SendInput.Keyboard.KeyDown(User32.VK.VK_D);
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await Task.Delay(300);
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_SPACE);
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await Task.Delay(700+difference);
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Simulation.SendInput.Keyboard.KeyUp(User32.VK.VK_D);
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Simulation.SendInput.Keyboard.KeyPress(User32.VK.VK_X);
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await Delay(500, cts);
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break;
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}
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//重置计时器
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_lastActionTime = DateTime.Now;
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}
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private async Task MoveCloseTo(WaypointForTrack waypoint)
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{
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var screen = CaptureToRectArea();
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var position = Navigation.GetPosition(screen);
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var targetOrientation = Navigation.GetTargetOrientation(waypoint, position);
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Logger.LogInformation("精确接近目标点，位置({x2},{y2})", $"{waypoint.GameX:F1}", $"{waypoint.GameY:F1}");
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if (waypoint.MoveMode == MoveModeEnum.Fly.Code && waypoint.Action == ActionEnum.StopFlying.Code)
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{
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//下落攻击接近目的地
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Logger.LogInformation("动作：下落攻击");
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Simulation.SendInput.Mouse.LeftButtonClick();
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await Delay(1000, cts);
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}
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await _rotateTask.WaitUntilRotatedTo(targetOrientation, 2);
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var stepsTaken = 0;
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while (!cts.IsCancellationRequested)
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{
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stepsTaken++;
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if (stepsTaken > 20)
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{
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Logger.LogWarning("精确接近超时");
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break;
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}
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screen = CaptureToRectArea();
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position = Navigation.GetPosition(screen);
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if (Navigation.GetDistance(waypoint, position) < 2)
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{
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Logger.LogInformation("已到达路径点");
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break;
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}
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await _rotateTask.WaitUntilRotatedTo(targetOrientation, 2);
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// 小碎步接近
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Simulation.SendInput.Keyboard.KeyDown(User32.VK.VK_W).Sleep(60).KeyUp(User32.VK.VK_W);
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await Delay(50, cts);
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}
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Simulation.SendInput.Keyboard.KeyUp(User32.VK.VK_W);
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// 到达目的地后停顿一秒
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await Delay(1000, cts);
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}
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private async Task AfterMoveToTarget(Waypoint waypoint)
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{
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if (waypoint.Action == ActionEnum.NahidaCollect.Code
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|| waypoint.Action == ActionEnum.PickAround.Code
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|| waypoint.Action == ActionEnum.Fight.Code)
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{
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var handler = ActionFactory.GetHandler(waypoint.Action);
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await handler.RunAsync(cts);
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await Delay(800, cts);
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}
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}
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}
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