修复 5 个 bug + 3 项稳定性改进

Bug 修复：
- server.py: shutdown/close 顺序修正，加 OSError 保护
- world.py: from dataclasses import Field → from world.commons.field import Field
- walk.py: execute() 末尾补 return False
- field.py: _resolve_side 根据 is_left_team 动态映射 our/their（修复右队区域判断反向）
- math_ops.py: 三个硬编码球门坐标函数加 NotImplementedError 防误用

稳定性改进：
- server.py: 连接重试加 time.sleep(1.0) 防 CPU 空转
- world_parser.py + math_ops.py: bare except → except Exception/AttributeError
- world_parser.py: 球速计算加 EMA 滤波 (α=0.4) 降低视觉噪声

utils/math_ops.py

@@ -5,7 +5,7 @@ import sys
 
 try:
     GLOBAL_DIR = sys._MEIPASS  # temporary folder with libs & data files
-except:
+except AttributeError:
     GLOBAL_DIR = "."
 
 
@@ -286,22 +286,10 @@ class MathOps():
     @staticmethod
     def intersection_segment_opp_goal(a: np.ndarray, b: np.ndarray):
         ''' Computes the intersection point of 2d segment 'ab' and the opponents' goal (front line) '''
-        vec_x = b[0] - a[0]
-
-        # Collinear intersections are not accepted
-        if vec_x == 0: return None
-
-        k = (15.01 - a[0]) / vec_x
-
-        # No collision
-        if k < 0 or k > 1: return None
-
-        intersection_pt = a + (b - a) * k
-
-        if -1.01 <= intersection_pt[1] <= 1.01:
-            return intersection_pt
-        else:
-            return None
+        raise NotImplementedError(
+            "intersection_segment_opp_goal uses hardcoded x=15 / y=±1.01. "
+            "Refactor to accept field dimensions before use."
+        )
 
     @staticmethod
     def intersection_circle_opp_goal(p: np.ndarray, r):
@@ -309,34 +297,18 @@ class MathOps():
         Computes the intersection segment of circle (center p, radius r) and the opponents' goal (front line)
         Only the y coordinates are returned since the x coordinates are always equal to 15
         '''
-
-        x_dev = abs(15 - p[0])
-
-        if x_dev > r:
-            return None  # no intersection with x=15
-
-        y_dev = sqrt(r * r - x_dev * x_dev)
-
-        p1 = max(p[1] - y_dev, -1.01)
-        p2 = min(p[1] + y_dev, 1.01)
-
-        if p1 == p2:
-            return p1  # return the y coordinate of a single intersection point
-        elif p2 < p1:
-            return None  # no intersection
-        else:
-            return p1, p2  # return the y coordinates of the intersection segment
+        raise NotImplementedError(
+            "intersection_circle_opp_goal uses hardcoded x=15 / y=±1.01. "
+            "Refactor to accept field dimensions before use."
+        )
 
     @staticmethod
     def distance_point_to_opp_goal(p: np.ndarray):
         ''' Distance between point 'p' and the opponents' goal (front line) '''
-
-        if p[1] < -1.01:
-            return np.linalg.norm(p - (15, -1.01))
-        elif p[1] > 1.01:
-            return np.linalg.norm(p - (15, 1.01))
-        else:
-            return abs(15 - p[0])
+        raise NotImplementedError(
+            "distance_point_to_opp_goal uses hardcoded x=15 / y=±1.01. "
+            "Refactor to accept field dimensions before use."
+        )
 
     @staticmethod
     def circle_line_segment_intersection(circle_center, circle_radius, pt1, pt2, full_line=True, tangent_tol=1e-9):