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

behaviors/custom/reinforcement/walk/walk.py

@@ -143,5 +143,7 @@ class Walk(Behavior):
                 robot.ROBOT_MOTORS[idx], target*180/math.pi, kp=25, kd=0.6
             )
 
+        return False
+
     def is_ready(self, *args, **kwargs) -> bool:
         return True

communication/server.py

@@ -1,5 +1,6 @@
 import logging
 import socket
+import time
 from select import select
 from communication.world_parser import WorldParser
 
@@ -27,12 +28,16 @@ class Server:
                 logger.error(
                     "Connection refused. Make sure the server is running and listening on {self.__host}:{self.__port}."
                 )
+                time.sleep(1.0)
 
         logger.info(f"Server connection established to {self.__host}:{self.__port}.")
 
     def shutdown(self) -> None:
+        try:
+            self.__socket.shutdown(socket.SHUT_RDWR)
+        except OSError:
+            pass
         self.__socket.close()
-        self.__socket.shutdown(socket.SHUT_RDWR)
 
     def send_immediate(self, msg: str) -> None:
         """
@@ -107,3 +112,6 @@ class Server:
     def commit_beam(self, pos2d: list, rotation: float) -> None:
         assert len(pos2d) == 2
         self.commit(f"(beam {pos2d[0]} {pos2d[1]} {rotation})")
+
+    def commit_catch(self, angle_deg: float) -> None:
+        logger.debug("commit_catch(%s) is a no-op on the current server backend.", angle_deg)

communication/world_parser.py

@@ -127,7 +127,10 @@ class WorldParser:
             if not world.is_left_team:
                 world._global_cheat_position[:2] = -world._global_cheat_position[:2]
 
-                global_rotation = R.from_quat(robot.global_orientation_quat)
+                # Rotate the current raw server pose into Apollo's unified
+                # left-team view. Using the previous frame orientation here
+                # makes right-side players drift and face the wrong direction.
+                global_rotation = R.from_quat(robot._global_cheat_orientation)
                 yaw180 = R.from_euler('z', 180, degrees=True)
                 fixed_rotation = yaw180 * global_rotation
                 robot._global_cheat_orientation = fixed_rotation.as_quat()
@@ -138,7 +141,7 @@ class WorldParser:
                 [MathOps.normalize_deg(axis_angle) for axis_angle in euler_angles_deg])
             robot.global_orientation_quat = robot._global_cheat_orientation
             world.global_position = world._global_cheat_position
-        except:
+        except Exception:
             logger.exception(f'Failed to rotate orientation and position considering team side')
 
         robot.gyroscope = np.array(perception_dict["GYR"]["rt"])
@@ -157,12 +160,33 @@ class WorldParser:
 
                     polar_coords = np.array(seen_object['pol'])
                     local_cartesian_3d = MathOps.deg_sph2cart(polar_coords)
+                    previous_ball_pos = np.copy(world.ball_pos)
+                    previous_ball_time = world.ball_last_update_time
 
                     world.ball_pos = MathOps.rel_to_global_3d(
                         local_pos_3d=local_cartesian_3d,
                         global_pos_3d=world.global_position,
                         global_orientation_quat=robot.global_orientation_quat
                     )
+                    world.ball_last_pos = previous_ball_pos
+                    world.ball_last_update_time = world.server_time
+
+                    if previous_ball_time is not None:
+                        dt = world.server_time - previous_ball_time
+                        if dt > 1e-6:
+                            raw_vel = (
+                                world.ball_pos[:2] - previous_ball_pos[:2]
+                            ) / dt
+                            alpha = 0.4
+                            world.ball_velocity_2d = (
+                                alpha * raw_vel
+                                + (1.0 - alpha) * world.ball_velocity_2d
+                            )
+                            world.ball_speed = float(np.linalg.norm(world.ball_velocity_2d))
+                    else:
+                        world.ball_velocity_2d = np.zeros(2)
+                        world.ball_speed = 0.0
+
                     world.is_ball_pos_updated = True
 
                 elif obj_type == "P":

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]
+        raise NotImplementedError(
-
+            "intersection_segment_opp_goal uses hardcoded x=15 / y=±1.01. "
-        # Collinear intersections are not accepted
+            "Refactor to accept field dimensions before use."
-        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
 
     @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
         '''
-
+        raise NotImplementedError(
-        x_dev = abs(15 - p[0])
+            "intersection_circle_opp_goal uses hardcoded x=15 / y=±1.01. "
-
+            "Refactor to accept field dimensions before use."
-        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
 
     @staticmethod
     def distance_point_to_opp_goal(p: np.ndarray):
         ''' Distance between point 'p' and the opponents' goal (front line) '''
-
+        raise NotImplementedError(
-        if p[1] < -1.01:
+            "distance_point_to_opp_goal uses hardcoded x=15 / y=±1.01. "
-            return np.linalg.norm(p - (15, -1.01))
+            "Refactor to accept field dimensions before use."
-        elif p[1] > 1.01:
+        )
-            return np.linalg.norm(p - (15, 1.01))
-        else:
-            return abs(15 - p[0])
 
     @staticmethod
     def circle_line_segment_intersection(circle_center, circle_radius, pt1, pt2, full_line=True, tangent_tol=1e-9):

world/commons/field.py

@@ -28,10 +28,15 @@ class Field(ABC):
         self.field_landmarks: FieldLandmarks = FieldLandmarks(field=self)
 
     def _resolve_side(self, side: GoalSide) -> Literal["left", "right"]:
-        if side in ("our", "left"):
+        if side == "left":
             return "left"
-        if side in ("their", "right"):
+        if side == "right":
             return "right"
+        is_left = self.world.is_left_team
+        if side == "our":
+            return "left" if is_left else "right"
+        if side == "their":
+            return "right" if is_left else "left"
         raise ValueError(f"Unknown field side: {side}")
 
     def get_width(self) -> float:
@@ -111,12 +116,19 @@ class Field(ABC):
         field_half_y = self.get_width() / 2.0
         return self._is_inside_bounds(pos2d, (-field_half_x, field_half_x, -field_half_y, field_half_y))
 
-    def get_beam_pose(self, number: int) -> tuple[float, float, float]:
+    def get_beam_pose(self, number: int, is_left_team: bool = True) -> tuple[float, float, float]:
         try:
-            return self.DEFAULT_BEAM_POSES[number]
+            pose = self.DEFAULT_BEAM_POSES[number]
         except KeyError as exc:
             raise KeyError(f"No beam pose configured for player {number} on {type(self).__name__}") from exc
 
+        if is_left_team:
+            return pose
+
+        x, y, rotation = pose
+        mirrored_rotation = ((rotation + 180.0 + 180.0) % 360.0) - 180.0
+        return (-x, -y, mirrored_rotation)
+
     def get_default_beam_poses(self) -> dict[int, tuple[float, float, float]]:
         return dict(self.DEFAULT_BEAM_POSES)
 
@@ -181,17 +193,13 @@ class FIFAField(Field):
     PENALTY_SPOT_DISTANCE = 11.0
     CENTER_CIRCLE_RADIUS = 9.15
     DEFAULT_BEAM_POSES = {
-        1: (2.1, 0.0, 0.0),
+        1: (-50.7, 0.0, 0.0),
-        2: (22.0, 12.0, 0.0),
+        2: (-38.9, 10.9, 0.0),
-        3: (22.0, 4.0, 0.0),
+        3: (-36.8, 4.8, 0.0),
-        4: (22.0, -4.0, 0.0),
+        4: (-36.8, -4.8, 0.0),
-        5: (22.0, -12.0, 0.0),
+        5: (-38.9, -10.9, 0.0),
-        6: (15.0, 0.0, 0.0),
+        6: (-10.2, 0.0, 0.0),
-        7: (4.0, 16.0, 0.0),
+        7: (-18.9, 0.0, 0.0),
-        8: (11.0, 6.0, 0.0),
-        9: (11.0, -6.0, 0.0),
-        10: (4.0, -16.0, 0.0),
-        11: (7.0, 0.0, 0.0),
     }
 
 
@@ -204,9 +212,9 @@ class HLAdultField(Field):
     PENALTY_SPOT_DISTANCE = 2.1
     CENTER_CIRCLE_RADIUS = 1.5
     DEFAULT_BEAM_POSES = {
-        1: (5.5, 0.0, 0.0),
+        1: (-5.5, 0.0, 0.0),
-        2: (2.0, -1.5, 0.0),
+        2: (-2.0, -1.5, 0.0),
-        3: (2.0, 1.5, 0.0),
+        3: (-2.0, 1.5, 0.0),
     }
 
 
@@ -219,11 +227,11 @@ class Soccer7vs7Field(Field):
     PENALTY_SPOT_DISTANCE = 5.8
     CENTER_CIRCLE_RADIUS = 4.79
     DEFAULT_BEAM_POSES = {
-        1: (2.0, 0.0, 0.0),
+        1: (-25.7, 0.0, 0.0),
-        2: (12.0, 8.0, 0.0),
+        2: (-15.7, 5.8, 0.0),
-        3: (13.5, 0.0, 0.0),
+        3: (-13.8, 2.5, 0.0),
-        4: (12.0, -8.0, 0.0),
+        4: (-13.8, -2.5, 0.0),
-        5: (7.0, 9.5, 0.0),
+        5: (-15.7, -5.8, 0.0),
-        6: (4.5, 0.0, 0.0),
+        6: (-5.8, 0.0, 0.0),
-        7: (7.0, -9.5, 0.0),
+        7: (-9.9, 0.0, 0.0),
     }