add North detection to Overworld watcher

SerialPrograms/Source/PokemonSV/Inference/Overworld/PokemonSV_DirectionDetector.cpp

@@ -58,8 +58,16 @@ DirectionDetector::DirectionDetector(Color color, const ImageFloatBox& box)
 {}
 
 
-std::pair<double, double> DirectionDetector::locate_north(ConsoleHandle& console, const ImageViewRGB32& screen) const{
-    assert_16_9_720p_min(console, screen);
+bool DirectionDetector::detect_north(Logger& logger, const ImageViewRGB32& screen) const{
+    std::pair<double, double> north_location = locate_north(logger, screen);
+
+    return !(north_location.first == 0 && north_location.second == 0);
+}
+
+
+std::pair<double, double> DirectionDetector::locate_north(Logger& logger, const ImageViewRGB32& screen) const{
+    assert_16_9_720p_min(logger, screen);
+
     const std::vector<std::pair<uint32_t, uint32_t>> filters = {
         {combine_rgb(0, 100, 0), combine_rgb(50, 230, 80)},
 
@@ -77,7 +85,7 @@ std::pair<double, double> DirectionDetector::locate_north(ConsoleHandle& console
     if (zero_coord.first > 0.91 || zero_coord.first < 0.90 || 
         zero_coord.second > 0.84 || zero_coord.second < 0.82)
     {
-        console.log("Unable to locate the overworld radar ball, falling back on hard coded location.", COLOR_ORANGE);
+        logger.log("Unable to locate the overworld radar ball, falling back on hard coded location.", COLOR_ORANGE);
         zero_coord.first = 0.9061;
         zero_coord.second = 0.8328;
         // throw InternalProgramError(nullptr, PA_CURRENT_FUNCTION, "Unable to locate the overworld radar ball.");

SerialPrograms/Source/PokemonSV/Inference/Overworld/PokemonSV_DirectionDetector.h

@@ -33,10 +33,12 @@ class DirectionDetector {
     DirectionDetector(Color color = COLOR_RED, const ImageFloatBox& box = ImageFloatBox(0.815, 0.680, 0.180, 0.310));
     virtual ~DirectionDetector();
 
+    bool detect_north(Logger& logger, const ImageViewRGB32& screen) const;
+
     // return the coordinates of the N symbol, where the coordinates are measured in absolute pixels (scaled to 1080/height)
     // with respect to the radar ball
     // return 0,0 if unable to locate the N symbol
-    std::pair<double, double> locate_north(ConsoleHandle& console, const ImageViewRGB32& screen) const;
+    std::pair<double, double> locate_north(Logger& logger, const ImageViewRGB32& screen) const;
 
     // return the direction of the N symbol, in radians, using North-clockwise convention. [0, 2pi)
     // return -1 if unable to locate the N symbol

SerialPrograms/Source/PokemonSV/Inference/Overworld/PokemonSV_OverworldDetector.cpp

@@ -130,34 +130,43 @@ std::pair<double, double> OverworldDetector::locate_ball(const ImageViewRGB32& s
 
 
 
-OverworldWatcher::OverworldWatcher(Color color, bool detect_event)
+OverworldWatcher::OverworldWatcher(Logger& logger, Color color, bool detect_event)
      : OverworldDetector(color)
      , VisualInferenceCallback("OverworldWatcher")
+     , m_logger(logger)
      , m_ball_hold_duration(std::chrono::milliseconds(5000))
      , m_map_hold_duration(std::chrono::milliseconds(1000))
+     , m_north_hold_duration(std::chrono::milliseconds(1000))
      , m_last_ball(WallClock::min())
+     , m_last_north(WallClock::min())
      , m_detect_event(detect_event)
-{}
+{
+    m_direction_detector = DirectionDetector(COLOR_RED);
+}
 
 void OverworldWatcher::make_overlays(VideoOverlaySet& items) const{
     OverworldDetector::make_overlays(items);
 }
 bool OverworldWatcher::process_frame(const VideoSnapshot& frame){
     //  Return true if either of the following is true:
     //    - Ball is held and radar map stays still for 1 second.
+    //    - Ball is held for 1 second and N symbol is held for 1 second
     //    - Ball is held for 5 seconds.
 
     //  The map is not static when there is an event raid in it as it will
     //  sparkle. So instead, we revert to the ball being held for 5 seconds.
 
+    // Using Ball detection alone can false positive on the slow moving lights after a tera raid.
+    // To reduce false positives, we also require: either the map staying still for 1 second, or detecting the N symbol.
+
     //  No detection.
     if (!detect(frame)){
         m_last_ball = WallClock::min();
         m_start_of_detection.clear();
         return false;
     }
 
-    //  First detection.
+    //  First detection of ball
     if (m_last_ball == WallClock::min()){
         m_last_ball = frame.timestamp;
     }
@@ -166,11 +175,27 @@ bool OverworldWatcher::process_frame(const VideoSnapshot& frame){
         return false;
     }
 
-    //  Ball held for long enough.
+    //  Ball held for long enough. (5 seconds)
     if (!m_detect_event && (frame.timestamp - m_last_ball >= m_ball_hold_duration)){
         return true;
     }
 
+
+    // check for North symbol
+    if (!m_direction_detector.detect_north(m_logger, frame)){ 
+        m_last_north = WallClock::min(); // not detecting north
+    }else{
+        if (m_last_north == WallClock::min()){ // first detection of north
+            m_last_north = frame.timestamp;  
+        }
+        if (frame.timestamp - m_last_north >= m_north_hold_duration){
+            return true;
+        }        
+    }
+
+
+    // Check if radar map stays still for 1 second.
+
     //  Mismatching image sizes.
     ImageViewRGB32 start = extract_box_reference(m_start_of_detection, m_detect_event ? m_ball : m_radar_inside);
     ImageViewRGB32 current = extract_box_reference(frame, m_detect_event ? m_ball : m_radar_inside);
@@ -179,15 +204,15 @@ bool OverworldWatcher::process_frame(const VideoSnapshot& frame){
         return false;
     }
 
-    //  Image has changed too much.
+
     double rmsd = ImageMatch::pixel_RMSD(start, current);
 //    cout << "rmsd = " << rmsd << endl;
-    if (rmsd > 2.0){
+    if (rmsd > 2.0){ //  Image of radar map has changed too much.
         m_start_of_detection = frame;
         return false;
     }
 
-    //  Make sure it's held for long enough.
+    //  Make sure radar map held for long enough.
     return frame.timestamp - m_start_of_detection.timestamp >= m_map_hold_duration;
 }
 

SerialPrograms/Source/PokemonSV/Inference/Overworld/PokemonSV_OverworldDetector.h

@@ -12,6 +12,7 @@
 #include "CommonFramework/VideoPipeline/VideoFeed.h"
 #include "CommonFramework/InferenceInfra/VisualInferenceCallback.h"
 #include "CommonFramework/Inference/VisualDetector.h"
+#include "PokemonSV/Inference/Overworld/PokemonSV_DirectionDetector.h"
 
 namespace PokemonAutomation{
 namespace NintendoSwitch{
@@ -39,18 +40,22 @@ class OverworldDetector : public StaticScreenDetector{
 
 class OverworldWatcher : public OverworldDetector, public VisualInferenceCallback{
 public:
-    OverworldWatcher(Color color = COLOR_RED, bool detect_event = false);
+    OverworldWatcher(Logger& logger, Color color = COLOR_RED, bool detect_event = false);
 
     virtual void make_overlays(VideoOverlaySet& items) const override;
     virtual bool process_frame(const VideoSnapshot& frame) override;
 
 
 private:
+    Logger& m_logger;
     std::chrono::milliseconds m_ball_hold_duration;
     std::chrono::milliseconds m_map_hold_duration;
+    std::chrono::milliseconds m_north_hold_duration;
     WallClock m_last_ball;
+    WallClock m_last_north;
     VideoSnapshot m_start_of_detection;
     bool m_detect_event;
+    DirectionDetector m_direction_detector;
 };
 
 

SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStoryTools.cpp

@@ -54,7 +54,7 @@ void run_battle_press_A(
     while (true){
         NormalBattleMenuWatcher battle(COLOR_BLUE);
         // SwapMenuWatcher         fainted(COLOR_PURPLE);
-        OverworldWatcher        overworld(COLOR_CYAN);
+        OverworldWatcher        overworld(console, COLOR_CYAN);
         AdvanceDialogWatcher    dialog(COLOR_RED);
         context.wait_for_all_requests();
 
@@ -164,7 +164,7 @@ void clear_dialog(ConsoleHandle& console, BotBaseContext& context,
         }
 
         AdvanceDialogWatcher    advance_dialog(COLOR_RED);
-        OverworldWatcher    overworld(COLOR_CYAN);
+        OverworldWatcher    overworld(console, COLOR_CYAN);
         PromptDialogWatcher prompt(COLOR_YELLOW);
         WhiteButtonWatcher  whitebutton(COLOR_GREEN, WhiteButton::ButtonA_DarkBackground, {0.725, 0.833, 0.024, 0.045}); // {0.650, 0.650, 0.140, 0.240}
         DialogArrowWatcher dialog_arrow(COLOR_RED, console.overlay(), {0.850, 0.820, 0.020, 0.050}, 0.8365, 0.846);

SerialPrograms/Source/PokemonSV/Programs/Battles/PokemonSV_BasicCatcher.cpp

@@ -177,7 +177,7 @@ CatchResults basic_catcher(
     WallClock last_battle_menu = WallClock::min();
     while (true){
         NormalBattleMenuWatcher battle_menu(COLOR_RED);
-        OverworldWatcher overworld(COLOR_YELLOW);
+        OverworldWatcher overworld(console, COLOR_YELLOW);
         GradientArrowWatcher next_pokemon(COLOR_GREEN, GradientArrowType::RIGHT, {0.50, 0.51, 0.30, 0.10});
         GradientArrowWatcher add_to_party(COLOR_BLUE, GradientArrowType::RIGHT, {0.50, 0.39, 0.30, 0.10});
         AdvanceDialogWatcher dialog(COLOR_PURPLE);

SerialPrograms/Source/PokemonSV/Programs/Battles/PokemonSV_Battles.cpp

@@ -38,7 +38,7 @@ void auto_heal_from_menu_or_overworld(
             );
         }
 
-        OverworldWatcher overworld(COLOR_RED);
+        OverworldWatcher overworld(console, COLOR_RED);
         MainMenuWatcher main_menu(COLOR_CYAN);
         AdvanceDialogWatcher dialog(COLOR_YELLOW);
         context.wait_for_all_requests();
@@ -90,7 +90,7 @@ int run_from_battle(const ProgramInfo& info, ConsoleHandle& console, BotBaseCont
 
     int attempts = 0;
     for (size_t c = 0; c < 10; c++){
-        OverworldWatcher overworld(COLOR_RED);
+        OverworldWatcher overworld(console, COLOR_RED);
         NormalBattleMenuWatcher battle_menu(COLOR_YELLOW);
         GradientArrowWatcher next_pokemon(COLOR_GREEN, GradientArrowType::RIGHT, {0.50, 0.51, 0.30, 0.10});
         context.wait_for_all_requests();

SerialPrograms/Source/PokemonSV/Programs/Battles/PokemonSV_SinglesBattler.cpp

@@ -147,7 +147,7 @@ bool run_pokemon(
         GradientArrowWatcher next_pokemon(COLOR_BLUE, GradientArrowType::RIGHT, {0.50, 0.51, 0.30, 0.10});
         SwapMenuWatcher swap_menu(COLOR_BLUE);
         AdvanceDialogWatcher dialog(COLOR_CYAN);
-        OverworldWatcher overworld(COLOR_GREEN);
+        OverworldWatcher overworld(console, COLOR_GREEN);
         context.wait_for_all_requests();
         int ret = run_until(
             console, context,

SerialPrograms/Source/PokemonSV/Programs/Eggs/PokemonSV_EggRoutines.cpp

@@ -84,7 +84,7 @@ void handle_egg_hatching(const ProgramInfo& info, ConsoleHandle& console, BotBas
 {
     console.log("Detect hatching dialog: " + std::to_string(egg_idx+1) + "/" + std::to_string(num_eggs_in_party));
     console.overlay().add_log("Hatched " + std::to_string(egg_idx+1) + "/" + std::to_string(num_eggs_in_party), COLOR_GREEN);
-    OverworldWatcher overworld(COLOR_CYAN);
+    OverworldWatcher overworld(console, COLOR_CYAN);
     int ret = run_until(
         console, context,
         [](BotBaseContext& context){
@@ -217,7 +217,7 @@ void order_compote_du_fils(const ProgramInfo& info, ConsoleHandle& console, BotB
         context.wait_for_all_requests();
 
         AdvanceDialogWatcher dialog_watcher(COLOR_RED, std::chrono::milliseconds(100));
-        OverworldWatcher overworld(COLOR_CYAN);
+        OverworldWatcher overworld(console, COLOR_CYAN);
         int ret = wait_until(
             console, context,
             std::chrono::seconds(60),

SerialPrograms/Source/PokemonSV/Programs/Farming/PokemonSV_AuctionFarmer.cpp

@@ -368,7 +368,7 @@ void AuctionFarmer::bid_on_item(SingleSwitchProgramEnvironment& env, BotBaseCont
     PromptDialogWatcher high_detector(COLOR_RED, { 0.50, 0.40, 0.40, 0.082 });
     PromptDialogWatcher mid_detector(COLOR_PURPLE, { 0.50, 0.475, 0.40, 0.082 });
     PromptDialogWatcher low_detector(COLOR_PURPLE, { 0.50, 0.55, 0.40, 0.082 });
-    OverworldWatcher overworld_detector(COLOR_BLUE);
+    OverworldWatcher overworld_detector(env.console, COLOR_BLUE);
     bool won_auction = true;
     bool auction_ongoing = true;
     int64_t current_bid = 0;

SerialPrograms/Source/PokemonSV/Programs/Farming/PokemonSV_BlueberryCatchPhoto.cpp

@@ -281,7 +281,7 @@ void quest_photo(const ProgramInfo& info, ConsoleHandle& console, BotBaseContext
                 //Take photo.
                 console.log("Taking photo.");
                 PromptDialogWatcher photo_prompt(COLOR_RED);
-                OverworldWatcher overworld(COLOR_BLUE);
+                OverworldWatcher overworld(console, COLOR_BLUE);
 
                 pbf_press_dpad(context, DPAD_DOWN, 50, 20);
                 pbf_wait(context, 100);
@@ -663,7 +663,7 @@ void quest_catch_handle_battle(const ProgramInfo& info, ConsoleHandle& console,
     console.log("Catching Pokemon.");
     AdvanceDialogWatcher advance_dialog(COLOR_MAGENTA);
     PromptDialogWatcher add_to_party(COLOR_PURPLE);
-    OverworldWatcher overworld(COLOR_RED);
+    OverworldWatcher overworld(console, COLOR_RED);
 
     uint8_t switch_party_slot = 1;
     bool quickball_thrown = false;
@@ -888,7 +888,7 @@ void quest_catch(const ProgramInfo& info, ConsoleHandle& console, BotBaseContext
     resume_game_from_home(console, context);
 
     //Heal up and then reset position again.
-    OverworldWatcher done_healing(COLOR_BLUE);
+    OverworldWatcher done_healing(console, COLOR_BLUE);
     pbf_move_left_joystick(context, 128, 0, 100, 20);
 
     pbf_mash_button(context, BUTTON_A, 300);
@@ -912,7 +912,7 @@ void quest_catch(const ProgramInfo& info, ConsoleHandle& console, BotBaseContext
 
 void wild_battle_tera(const ProgramInfo& info, ConsoleHandle& console, BotBaseContext& context, bool& tera_self){
     AdvanceDialogWatcher lost(COLOR_YELLOW);
-    OverworldWatcher overworld(COLOR_RED);
+    OverworldWatcher overworld(console, COLOR_RED);
     WallClock start = current_time();
     uint8_t switch_party_slot = 1;
     bool first_turn = true;

SerialPrograms/Source/PokemonSV/Programs/Farming/PokemonSV_BlueberryQuests.cpp

@@ -409,7 +409,7 @@ void quest_make_tm(const ProgramInfo& info, ConsoleHandle& console, BotBaseConte
 
     GradientArrowWatcher machine(COLOR_BLUE, GradientArrowType::DOWN, {0.181, 0.127, 0.045, 0.070});
     PromptDialogWatcher makeTM(COLOR_RED);
-    OverworldWatcher overworld(COLOR_BLUE);
+    OverworldWatcher overworld(console, COLOR_BLUE);
 
     pbf_move_left_joystick(context, 255, 0, 100, 20);
     pbf_press_button(context, BUTTON_L, 10, 50);
@@ -568,7 +568,7 @@ void quest_tera_self_defeat(const ProgramInfo& info, ConsoleHandle& console, Bot
     resume_game_from_home(console, context);
 
     //Heal up and then reset position again.
-    OverworldWatcher done_healing(COLOR_BLUE);
+    OverworldWatcher done_healing(console, COLOR_BLUE);
     pbf_move_left_joystick(context, 128, 0, 100, 20);
 
     pbf_mash_button(context, BUTTON_A, 300);
@@ -645,7 +645,7 @@ void quest_sneak_up(const ProgramInfo& info, ConsoleHandle& console, BotBaseCont
             pbf_press_button(context, BUTTON_CAPTURE, 2 * TICKS_PER_SECOND, 5 * TICKS_PER_SECOND);
             throw ProgramFinishedException();
         }else{
-            OverworldWatcher overworld(COLOR_BLUE);
+            OverworldWatcher overworld(console, COLOR_BLUE);
 
             int ret2 = run_until(
                 console, context,
@@ -768,7 +768,7 @@ void quest_wild_tera(const ProgramInfo& info, ConsoleHandle& console, BotBaseCon
     resume_game_from_home(console, context);
 
     //Heal up and then reset position again.
-    OverworldWatcher done_healing(COLOR_BLUE);
+    OverworldWatcher done_healing(console, COLOR_BLUE);
     pbf_move_left_joystick(context, 128, 0, 100, 20);
 
     pbf_mash_button(context, BUTTON_A, 300);
@@ -1176,7 +1176,7 @@ void quest_auto_battle(ProgramEnvironment& env, ConsoleHandle& console, BotBaseC
         context.wait_for_all_requests();
         return_to_plaza(env.program_info(), console, context);
 
-        OverworldWatcher done_healing(COLOR_BLUE);
+        OverworldWatcher done_healing(console, COLOR_BLUE);
         pbf_move_left_joystick(context, 128, 0, 100, 20);
 
         pbf_mash_button(context, BUTTON_A, 300);

SerialPrograms/Source/PokemonSV/Programs/Farming/PokemonSV_ESPTraining.cpp

@@ -224,7 +224,7 @@ void ESPTraining::program(SingleSwitchProgramEnvironment& env, BotBaseContext& c
         }
 
         //Program done, mash B until overworld detected
-        OverworldWatcher overworld(COLOR_CYAN);
+        OverworldWatcher overworld(env.console, COLOR_CYAN);
         int ret = run_until(
             env.console, context,
             [](BotBaseContext& context){

SerialPrograms/Source/PokemonSV/Programs/Farming/PokemonSV_FlyingTrialFarmer.cpp

@@ -114,7 +114,7 @@ bool FlyingTrialFarmer::run_rewards(SingleSwitchProgramEnvironment& env, BotBase
     bool trial_failed = true;
     while (true){
         DialogBoxWatcher dialog(COLOR_GREEN, true, std::chrono::milliseconds(250), DialogType::DIALOG_BLACK);
-        OverworldWatcher overworld(COLOR_CYAN);
+        OverworldWatcher overworld(env.console, COLOR_CYAN);
         context.wait_for_all_requests();
 
         int ret_finish = run_until(

SerialPrograms/Source/PokemonSV/Programs/Farming/PokemonSV_GimmighoulChestFarmer.cpp

@@ -149,7 +149,7 @@ void GimmighoulChestFarmer::program(SingleSwitchProgramEnvironment& env, BotBase
             pbf_mash_button(context, BUTTON_A, 90);
             c++;
             context.wait_for_all_requests();
-            OverworldWatcher overworld(COLOR_RED);
+            OverworldWatcher overworld(env.console, COLOR_RED);
             int ret2 = wait_until(
                 env.console, context,
                 std::chrono::seconds(120),

SerialPrograms/Source/PokemonSV/Programs/Farming/PokemonSV_MaterialFarmerTools.cpp

@@ -721,7 +721,7 @@ void move_from_blueberry_entrance_to_league_club(const ProgramInfo& info, Consol
         pbf_mash_button(context, BUTTON_A, 100);
 
         // check for overworld
-        OverworldWatcher overworld(COLOR_CYAN);  
+        OverworldWatcher overworld(console, COLOR_CYAN);  
         ret = wait_until(console, context, Milliseconds(10000), { overworld });
         if (ret == 0){
             console.log("Entered League club room.");
@@ -795,7 +795,7 @@ void move_from_item_printer_to_blueberry_entrance(const ProgramInfo& info, Conso
     pbf_mash_button(context, BUTTON_A, 100);    
 
     // check for overworld
-    OverworldWatcher overworld(COLOR_CYAN);  
+    OverworldWatcher overworld(console, COLOR_CYAN);  
     ret = wait_until(console, context, std::chrono::seconds(30), { overworld });
     if (ret == 0){
         console.log("Overworld detected");