改写战斗中替换group的逻辑

mower/utils/detector.py

@@ -0,0 +1,41 @@
+import numpy as np
+
+from . import typealias as tp
+from .log import logger
+
+
+def infra_notification(img: tp.Image) -> tp.Coordinate:
+    """
+    检测基建内是否存在蓝色通知
+    前置条件：已经处于基建内
+    """
+    height, width, _ = img.shape
+
+    # set a new scan line: right
+    right = width
+    while np.max(img[:, right - 1]) < 100:
+        right -= 1
+    right -= 1
+
+    # set a new scan line: up
+    up = 0
+    for i in range(height):
+        if img[i, right, 0] < 100 < img[i, right, 1] < img[i, right, 2]:
+            up = i
+            break
+    if up == 0:
+        return None
+
+    # set a new scan line: down
+    down = 0
+    for i in range(up, height):
+        if not (img[i, right, 0] < 100 < img[i, right, 1] < img[i, right, 2]):
+            down = i
+            break
+    if down == 0:
+        return None
+
+    # detect successful
+    point = (right - 10, (up + down) // 2)
+    logger.debug(f"detector.infra_notification: {point}")
+    return point