主线关卡导航改进

mower/solvers/navigation/__init__.py

@@ -6,7 +6,7 @@ import cv2
 from mower.solvers.navigation.utils import generate_name
 from mower.utils import config
 from mower.utils.graph import SceneGraphSolver
-from mower.utils.image import thres2
+from mower.utils.image import cropimg, loadres
 from mower.utils.log import logger
 from mower.utils.scene import Scene
 from mower.utils.vector import va, vs
@@ -531,15 +531,39 @@ class NavigationSolver(SceneGraphSolver):
             if not isinstance(self.prefix, int):
                 self.back()
                 return
-            act_scope = ((300, 315), (400, 370))
+            if self.animation():
-
+                return
-            if self.find(f"navigation/act/{self.act}", scope=act_scope):
+            img = cropimg(config.recog.gray, ((300, 315), (405, 370)))
-                if pos := self.find(f"navigation/main/{self.prefix}"):
+            act, score = 0, 0
-                    self.tap(pos)
+            for i in range(3):
-                else:
+                result = cv2.matchTemplate(
-                    self.swipe_ext([(932, 554), (1425, 554)], [300], 500, 0.5)
+                    img, loadres(f"navigation/act/{i}", True), cv2.TM_CCOEFF_NORMED
-            else:
+                )
+                min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(result)
+                if max_val > score:
+                    act, score = i, max_val
+            if self.act > act:
+                self.ctap((251, 846), 3)
+                return
+            elif self.act < act:
                 self.ctap((230, 175), 3)
+                return
+            prefix_scope = ((1150, 250), (1700, 780))
+            img = cropimg(config.recog.gray, prefix_scope)
+            prefix, score = 0, 0
+            for i in range(15):
+                result = cv2.matchTemplate(
+                    img, loadres(f"navigation/main/{i}", True), cv2.TM_CCOEFF_NORMED
+                )
+                min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(result)
+                if max_val > score:
+                    prefix, score = i, max_val
+            if self.prefix > prefix:
+                self.swipe_ext([(1425, 554), (932, 554)], [300], 500)
+            elif self.prefix < prefix:
+                self.swipe_ext([(932, 554), (1425, 554)], [300], 500)
+            else:
+                self.tap(prefix_scope)
         elif scene == Scene.TERMINAL_BIOGRAPHY:
             if self.prefix not in ["OF"]:
                 self.back()

mower/utils/recognize/data.py

@@ -285,9 +285,6 @@ template_matching = {
     "mission_daily_on": ((685, 15), (1910, 100)),
     "mission_weekly": ((685, 15), (1910, 100)),
     "mission_weekly_on": ((685, 15), (1910, 100)),
-    "navigation/act/0": (309, 318),
-    "navigation/act/1": (309, 319),
-    "navigation/act/2": (307, 319),
     "navigation/collection/AP_entry": ((0, 170), (1920, 870)),
     "navigation/collection/CA_entry": ((0, 170), (1920, 870)),
     "navigation/collection/CE_entry": ((0, 170), (1920, 870)),
@@ -400,6 +397,7 @@ template_matching_score = {
     "connecting": 0.7,
     "fight/pause": 0.8,
     "navigation/episode": 0.7,
+    "navigation/ope_difficulty": 0.7,
     "navigation/ope_hard": 0.7,
     "navigation/ope_hard_small": 0.7,
     "navigation/ope_normal": 0.7,