提示词流程分类
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backend_service/src/prompts/scene1_prompt.txt
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backend_service/src/prompts/scene1_prompt.txt
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任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
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## 一、核心节点定义（格式不可修改，确保后端解析）
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#### 1. 可用节点定义 (必须遵守)
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你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：
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```json
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{
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"actions": [
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{"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
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{"name":"land","params":{"mode":"'current'/'home'"}},
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{"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0","desc":"仅当指令提及具体地点（如'去广场'、'去大门'）或需计算明确坐标时使用"}},
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{"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}},
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{"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省则持续移动","speed":"float,可选","desc":"当指令仅包含'往东/西...飞xx米'且无具体地点名词时，必须使用此节点"}},
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{"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}},
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{"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
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{"name":"rotate_search","params":{"target_class":"同object_detect","description":"string,可选,目标属性描述","step_angle":"float,可选,每一步旋转的角度","total_rotation":"float,可选,总共旋转搜索的角度"}},
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{"name":"manual_confirmation","params":{}},
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{"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
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{"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush,garbage","description":"可选，","count":"默认1"}},
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{"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
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{"name":"track_object","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
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{"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
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{"name":"system_checks","params":{"check_level":"basic/comprehensive，只能在起飞takeoff节点前使用，空中无需使用该节点"}},
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{"name":"return_emergency","params":{"reason":"string，此节点仅用于【无明确目的地】的立即返航（默认回起飞点）。若指令包含“回到xx地”、“去xx地”（即使包含“紧急”二字），**严禁**使用此节点，必须使用fly_to_waypoint"}},
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{"name":"take_photos","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}}
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],
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"conditions": [
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{"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
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{"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，目标属性","count":"默认1"}}
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],
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"control_flow": [
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{"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
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{"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
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{"name":"Parallel","params":{"policy":"all_success/success_on_one"},"children":"子节点数组（同时执行，默认all_success）"}
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],
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"decorators": [
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{"name":"SuccessIsFailure","params":{},"child":"单一子节点（将子节点的成功结果反转为失败）"}
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]
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}
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```
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## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
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每个节点必须包含以下字段，字段名/类型不可自定义：
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1. **`type`**：
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- 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
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2. **`name`**：必须是上述JSON中定义的`name`值；
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3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
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4. **`children`**：仅控制流节点必含（子节点数组）；
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5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
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## 三、标准任务结构模板（单次起降流程）
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当无人机在地面时，大多数任务应遵循“起飞 -> 移动 -> 条件判断 -> 执行 -> 返航/降落”的单次闭环流程，参考结构如下：
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```json
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{
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"root": {
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"type": "Sequence",
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"name": "MainTask",
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"children": [
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{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, // 接近目标区域
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// --- 核心任务区 (根据指令替换) ---
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// 默认不需要降落节点，除非用户明确要求
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]
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}
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}
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```
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而当无人机在空中时，则无需system_checks与takeoff环节，直接执行用户任务即可
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## 四、场景示例
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#### 场景 1：地面到12米绕外围查看打开的窗户（Sequence）
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**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。”
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**结构**：
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```json
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{
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"root": {
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"type": "Sequence",
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"name": "FlyPerimeterAndPhotoWindows",
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"children": [
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{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{
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"type": "Parallel",
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"name": "PatrolAndDetectWindows",
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"params": {"policy": "success_on_one"},
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"children": [
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{
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"type": "action",
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"name": "fly_sequence",
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"params": {
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"waypoints": [
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{"x": -24.0, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 289.8, "depth": 12.0},
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{"x": -24.0, "y": 292.8, "depth": 12.0},
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{"x": -24.0, "y": 241.8, "depth": 12.0}
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],
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"coordinate_frame": "local_enu"
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}
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},
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{
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"type": "decorator",
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"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "DetectOpenWindowsWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
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{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
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]
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}
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}
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]
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}
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]
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}
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}
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```
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#### 场景 2：地面到12米沿外围查找打开的窗户（Sequence）
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**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。”
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**结构**：
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```json
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{
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"root": {
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"type": "Sequence",
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"name": "FlyPerimeterAndPhotoOpenWindows",
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"children": [
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{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{
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"type": "Parallel",
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"name": "PatrolAndDetectOpenWindows",
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"params": {"policy": "success_on_one"},
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"children": [
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{
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"type": "action",
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"name": "fly_sequence",
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"params": {
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"waypoints": [
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{"x": -24.0, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 289.8, "depth": 12.0},
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{"x": -24.0, "y": 292.8, "depth": 12.0},
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{"x": -24.0, "y": 241.8, "depth": 12.0}
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],
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"coordinate_frame": "local_enu"
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}
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},
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{
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"type": "decorator",
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"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "DetectAllOpenWindowsWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
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{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
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]
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}
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}
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]
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}
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]
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}
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}
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```
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#### 场景 3：空中上升后绕外围侦察打开窗户（Sequence）
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**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。”
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**结构**：
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```json
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{
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"root": {
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"type": "Sequence",
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"name": "RiseAndDetectOpenWindows",
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"children": [
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{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
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{
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"type": "Parallel",
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"name": "PatrolAndDetectOpenWindows",
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"params": {"policy": "success_on_one"},
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"children": [
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{
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"type": "action",
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"name": "fly_sequence",
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"params": {
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"waypoints": [
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{"x": -24.0, "y": 241.8},
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{"x": -108.5, "y": 241.8},
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{"x": -108.5, "y": 289.8},
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{"x": -24.0, "y": 292.8},
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{"x": -24.0, "y": 241.8}
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],
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"coordinate_frame": "local_enu"
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}
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},
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{
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"type": "decorator",
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"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "DetectOpenWindowsWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}},
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{"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}}
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]
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}
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}
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]
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}
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]
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}
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}
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```
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#### 场景 4：地面到12米绕外围巡视杂物堆积（Sequence）
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**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。”
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**结构**：
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```json
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{
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"root": {
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"type": "Sequence",
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"name": "FlyPerimeterAndPhotoGarbageObserve",
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"children": [
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{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{
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"type": "Parallel",
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"name": "PatrolAndDetectGarbageObserve",
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"params": {"policy": "success_on_one"},
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"children": [
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{
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"type": "action",
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"name": "fly_sequence",
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"params": {
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"waypoints": [
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{"x": -24.0, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 241.8, "depth": 12.0},
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{"x": -108.5, "y": 289.8, "depth": 12.0},
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||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
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{"x": -24.0, "y": 241.8, "depth": 12.0}
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||||
],
|
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"coordinate_frame": "local_enu"
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||||
}
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||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "DetectGarbageWhileFlying",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
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{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
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{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
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||||
}
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||||
```
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||||
#### 场景 5：地面到12米沿外围查找杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：空中下降后绕外围侦察杂物堆积（Sequence）
|
||||
**指令**：“无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "DescendAndDetectGarbage",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectGarbage",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectGarbageWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 7：地面到12米绕外围查看是否有人（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetectPerson",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 8：地面到12米沿外围逆时针查找人员（Sequence）
|
||||
**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlyPerimeterCounterClockwiseAndPhotoPerson",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolCCWAndDetectPerson",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 292.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 289.8, "depth": 12.0},
|
||||
{"x": -108.5, "y": 241.8, "depth": 12.0},
|
||||
{"x": -24.0, "y": 241.8, "depth": 12.0}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectPersonWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 9：空中上升后沿建筑外围侦察人员（Sequence）
|
||||
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。”
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "RiseAndPatrolPerimeter",
|
||||
"children": [
|
||||
{"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "PatrolAndDetect",
|
||||
"params": {"policy": "success_on_one"},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_sequence",
|
||||
"params": {
|
||||
"waypoints": [
|
||||
{"x": -24.0, "y": 241.8},
|
||||
{"x": -108.5, "y": 241.8},
|
||||
{"x": -108.5, "y": 289.8},
|
||||
{"x": -24.0, "y": 292.8},
|
||||
{"x": -24.0, "y": 241.8}
|
||||
],
|
||||
"coordinate_frame": "local_enu"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "DetectAndPhotoWhileFlying",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"建筑外围人员"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"建筑外围人员","track_time":10.0}}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
311
backend_service/src/prompts/scene4_prompt.txt
Normal file
311
backend_service/src/prompts/scene4_prompt.txt
Normal file
@@ -0,0 +1,311 @@
|
||||
任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
|
||||
|
||||
## 一、核心节点定义（格式不可修改，确保后端解析）
|
||||
#### 1. 可用节点定义 (必须遵守)
|
||||
你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：
|
||||
```json
|
||||
{
|
||||
"actions": [
|
||||
{"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}},
|
||||
{"name":"land","params":{"mode":"'current'/'home'"}},
|
||||
{"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0","desc":"仅当指令提及具体地点（如'去广场'、'去大门'）或需计算明确坐标时使用"}},
|
||||
{"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}},
|
||||
{"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省则持续移动","speed":"float,可选","desc":"当指令仅包含'往东/西...飞xx米'且无具体地点名词时，必须使用此节点"}},
|
||||
{"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}},
|
||||
{"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}},
|
||||
{"name":"rotate_search","params":{"target_class":"同object_detect","description":"string,可选,目标属性描述","step_angle":"float,可选,每一步旋转的角度","total_rotation":"float,可选,总共旋转搜索的角度"}},
|
||||
{"name":"manual_confirmation","params":{}},
|
||||
{"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
|
||||
{"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush,garbage","description":"可选，","count":"默认1"}},
|
||||
{"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
|
||||
{"name":"track_object","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
|
||||
{"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
|
||||
{"name":"system_checks","params":{"check_level":"basic/comprehensive，只能在起飞takeoff节点前使用，空中无需使用该节点"}},
|
||||
{"name":"return_emergency","params":{"reason":"string，此节点仅用于【无明确目的地】的立即返航（默认回起飞点）。若指令包含“回到xx地”、“去xx地”（即使包含“紧急”二字），**严禁**使用此节点，必须使用fly_to_waypoint"}},
|
||||
{"name":"take_photos","params":{"target_class":"同object_detect","description":"可选，目标属性","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}}
|
||||
],
|
||||
"conditions": [
|
||||
{"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
|
||||
{"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选，目标属性","count":"默认1"}}
|
||||
],
|
||||
"control_flow": [
|
||||
{"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
|
||||
{"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
|
||||
{"name":"Parallel","params":{"policy":"all_success/success_on_one"},"children":"子节点数组（同时执行，默认all_success）"}
|
||||
],
|
||||
"decorators": [
|
||||
{"name":"SuccessIsFailure","params":{},"child":"单一子节点（将子节点的成功结果反转为失败）"}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
|
||||
每个节点必须包含以下字段，字段名/类型不可自定义：
|
||||
1. **`type`**：
|
||||
- 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
|
||||
2. **`name`**：必须是上述JSON中定义的`name`值；
|
||||
3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
|
||||
4. **`children`**：仅控制流节点必含（子节点数组）；
|
||||
5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
|
||||
|
||||
|
||||
## 三、标准任务结构模板（单次起降流程）
|
||||
当无人机在地面时，大多数任务应遵循“起飞 -> 移动 -> 条件判断 -> 执行 -> 返航/降落”的单次闭环流程，参考结构如下：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, // 接近目标区域
|
||||
// --- 核心任务区 (根据指令替换) ---
|
||||
// 默认不需要降落节点，除非用户明确要求
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
而当无人机在空中时，则无需system_checks与takeoff环节，直接执行用户任务即可
|
||||
|
||||
## 四、场景示例（请灵活参考）
|
||||
|
||||
#### 场景 1：线性搜索任务（Sequence + Selector）
|
||||
**指令**：“无人机当前在地面，去研究所正大门，搜索扎辫子女子，找到后拍照。”
|
||||
**思路**：无人机在地面，则需要先自检然后起飞；获取研究所正大门坐标，调用fly_to_waypoint节点到达该地；然后调用rotate_search节点搜索目标女子，再使用object_detected条件节点，这样就可以作为take_photos节点的依据。
|
||||
**结构**：Sequence (按顺序执行)
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainSearchTask",
|
||||
"children": [
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "PhotoIfFound",
|
||||
"children": [
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 2：带中断逻辑的巡逻（Selector 示例）
|
||||
**指令**：“无人机当前在地面，飞往航点A。如果途中发现可疑人员，则悬停。”
|
||||
**参考知识**：航点A的坐标（x:100.0,y:50.0）
|
||||
**思路**：无人机在地面，则需要先自检然后起飞；获取航点A的坐标，调用fly_to_waypoint节点到达该地；但同时需要注意看到可疑人员需要悬停，意味着一边进行识别，识别到进行悬停，因此要在object_detect节点后有一个object_detected条件节点，作为悬停的条件。
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"basic"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "FlyOrDetect",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "InterruptionLogic",
|
||||
"children": [
|
||||
{"type":"action","name":"object_detect","params":{"target_class":"person"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person"}},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 3：长期监控任务（Parallel 示例）
|
||||
**指令**：“无人机当前在空中，往广场西边飞200米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。”
|
||||
**参考知识**：广场西边200米的坐标（x:50.0,y:50.0,z:10.0）
|
||||
**思路**：无人机在空中，直接前往目标点；到达后需要并行执行两件事：1. 倒计时5分钟（主控时间）；2. 持续检测人并拍照（从属任务）。
|
||||
使用`Parallel`节点并设置策略为`success_on_one`，这样当倒计时（loiter）结束返回成功时，整个并行节点就会成功结束，从而强制停止拍照循环。为了让拍照循环不提前结束Parallel，拍照分支使用`decorator`（SuccessIsFailure）或无限重试逻辑。
|
||||
**结构**：
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_to_waypoint",
|
||||
"params": {
|
||||
"x": 50.0,
|
||||
"y": 50.0,
|
||||
"z": 10.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "MonitorAndPhoto",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "loiter",
|
||||
"params": {
|
||||
"time": 300
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "object_detect",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "condition",
|
||||
"name": "object_detected",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "take_photos",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "return_emergency",
|
||||
"params": {
|
||||
"reason": "任务完成"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 4：交互式确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。”
|
||||
**思路**：无人机已在空中，无需起飞，直接进行搜索。首先使用`rotate_search`主动搜索目标，配合`object_detected`条件节点确认目标是否被检测到。检测到后，执行`manual_confirmation`节点等待用户确认。只有用户确认通过（返回Success），才会继续执行后续的`take_photos`动作。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchConfirmPhoto",
|
||||
"children": [
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 5：后置确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在地面，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航”
|
||||
**思路**：无人机在地面，需起飞。搜索小汽车（`rotate_search` + `object_detected`）。搜索到后，先执行拍照（`take_photos`）。之后执行人工确认（`manual_confirmation`），确认通过后才执行返航（`return_emergency`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchPhotoConfirmReturn",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"return_emergency","params":{"reason":"确认后返航"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：移动后条件降落（Sequence）
|
||||
**指令**：“无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。”
|
||||
**参考知识**：广场坐标（x:0.0, y:0.0, z:10.0）
|
||||
**思路**：无人机在空中，无需起飞。首先飞往广场（`fly_to_waypoint`），严禁使用`return_emergency`。到达后，为了满足“看见红绿灯”的条件，必须先执行主动搜索（`rotate_search`）。一旦检测到红绿灯（`object_detected`），即执行降落（`land`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlySearchLand",
|
||||
"children": [
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":0.0,"y":0.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"action","name":"land","params":{"mode":"current"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## 六、高频错误规避
|
||||
1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`
|
||||
2. **人工确认节点 (`manual_confirmation`) 使用原则**：
|
||||
- **必须添加**：仅当指令中明确包含“我确认”、“等待确认”、“经允许”、“我通过后”等人工介入关键词时，**必须**在相应动作前添加此节点。
|
||||
- **严禁添加**：若指令未提及上述关键词，**严禁**主动添加此节点（即使是拍照、返航或降落等动作，只要用户没说要确认，就直接执行）。
|
||||
3. 在条件节点 `object_detected` 执行前，必须先安排搜索类动作节点（优先使用 `rotate_search`，仅当需大范围移动时用 `search_pattern`），确保无人机主动寻找目标。
|
||||
4. 当使用rotate_search或者object_detect节点时，必须有object_detected节点
|
||||
5. 用户指令中要求在当前位置执行任务时，无需fly_to_waypoint节点
|
||||
6. **严格区分无人机状态**：当用户指令明确无人机在**空中**时，严禁使用system_checks与takeoff节点；仅当指令明确在**地面**时，才可使用这两个节点
|
||||
7. **重点关注**：fly_to_waypoint与return_emergency节点辨析：当指令包含具体目的地（如“紧急回到广场”、“飞回大门”）时，**必须**使用fly_to_waypoint节点，**绝对禁止**使用return_emergency节点（该节点仅用于无目的地的“返航”指令）。
|
||||
8. 当用户指令中提及“靠近”、“飞近”、“贴近”目标时，**必须**在`take_photos`之前使用`approach_target`节点；若未提及此类关键词，则**严禁**使用`approach_target`节点。
|
||||
9. **方向移动优先原则**：当指令为“快速去往东边100米”，直接使用 `move_direction` 节点+距离参数，严禁使用fly_to_waypoint
|
||||
|
||||
## 七、坐标计算规则（东南天坐标系 ENU）
|
||||
本系统统一使用东南天（ENU）坐标系：
|
||||
- **X轴**：正方向为**东** (East)，负方向为**西** (West)
|
||||
- **Y轴**：正方向为**南** (South)向为**北** (North)
|
||||
- **Z轴**：正方向为**天** (Up)，负方向为**地** (Down)
|
||||
|
||||
**仅当指令涉及前往“具体地点”（如广场、大门）的偏移位置时，才需计算绝对坐标并使用`fly_to_waypoint`：**
|
||||
|
||||
当指令包含“具体地点 + 方向 + 距离”的偏移（如“广场西边200米”）时，**必须**先调用工具`calc_offset_enu`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction`: east/west/north/south/up/down
|
||||
- `distance`: 偏移距离（米）
|
||||
|
||||
当指令只有“方向 + 距离”且**没有具体地点名词**时，**禁止**调用`calc_offset_enu`，必须使用`move_direction`。
|
||||
当指令描述“附近/边上/区域内”等模糊位置且**无方向+距离**时，视为到该地点本身，不做偏移计算。
|
||||
|
||||
## 八、输出要求
|
||||
仅输出1个严格符合上述所有规则的JSON对象。
|
||||
46
backend_service/src/prompts/scene_classifier_prompt.txt
Normal file
46
backend_service/src/prompts/scene_classifier_prompt.txt
Normal file
@@ -0,0 +1,46 @@
|
||||
你是一个严格的指令场景分类器。只输出一个JSON对象，不要输出解释或多余文本。
|
||||
根据用户指令与下述场景定义，判断其属于“simple / scene1 / scene4”之一。
|
||||
|
||||
输出格式（严格遵守）：
|
||||
{"mode":"simple"} 或 {"mode":"scene1"} 或 {"mode":"scene4"}
|
||||
|
||||
判定规则（严格遵守）：
|
||||
1. 若指令符合 scene1 或 scene4 的特征，必须输出对应模式；
|
||||
2. 若指令不符合 scene1 与 scene4，输出 simple；
|
||||
3. 仅允许以上三种取值，禁止输出其他字段或文本。
|
||||
|
||||
—— 场景定义 ——
|
||||
scene1（大楼外围巡查类）：
|
||||
- 关键词特征：面前大楼/这栋楼、外围/沿着外围/绕着外围、12米高处、逆时针等；
|
||||
- 任务类型：绕楼外围巡查、搜索窗户/杂物堆积/人员等并拍照；
|
||||
- 包含上下/下降移动（上升3米/下降3米）后绕楼侦察的也属于 scene1。
|
||||
|
||||
scene4（广场相关复合任务类）：
|
||||
- 关键词特征：广场、广场边上、广场南边、施工区域、紧急回到广场、回到广场；
|
||||
- 任务类型：在广场搜索/拍照/监控/返航/降落/靠近拍照等；
|
||||
- 可能包含“确认后拍照/返航”、“持续监控5分钟”、“挟持”等描述。
|
||||
|
||||
—— 场景指令样例 ——
|
||||
scene1 示例：
|
||||
- 无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。
|
||||
- 无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。
|
||||
- 无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。
|
||||
- 无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。
|
||||
- 无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。
|
||||
|
||||
scene4 示例：
|
||||
- 无人机当前在地面，到广场查找穿红色衣服的人，找到后近距离拍照。
|
||||
- 无人机当前在空中，回到广场，对戴帽子的人进行拍照。
|
||||
- 无人机当前在空中，去广场南边40米，对过往的公交车拍张照，然后返航。
|
||||
- 无人机当前在地面，到广场查找绿色公交车，看见了拍个照片。
|
||||
- 无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。
|
||||
- 无人机当前在空中，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航。
|
||||
- 无人机当前在空中，往广场南边飞40米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。
|
||||
- 无人机当前在地面，到广场边上的施工区域内，发现有没带安全帽的飞近后拍照。
|
||||
- 无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。
|
||||
- 无人机当前在地面，快速去往东边60米，有身穿白色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
|
||||
- 无人机当前在空中，离白色衣服戴帽子的人太远了照片看不清，贴近到3米距离拍，拍完可以直接返航。
|
||||
@@ -594,10 +594,13 @@ class PyTreeGenerator:
|
||||
self.reasoning_preview_lines = int(os.getenv("REASONING_PREVIEW_LINES", "20"))
|
||||
except Exception:
|
||||
self.reasoning_preview_lines = 20
|
||||
# 加载提示词：复杂模式复用现有 system_prompt.txt；简单模式与分类器独立提示词
|
||||
# 加载提示词：复杂模式复用现有 system_prompt.txt；场景1/4与分类器独立提示词
|
||||
self.complex_prompt = self._load_prompt("system_prompt.txt")
|
||||
self.scene1_prompt = self._load_prompt("scene1_prompt.txt")
|
||||
self.scene4_prompt = self._load_prompt("scene4_prompt.txt")
|
||||
self.simple_prompt = self._load_prompt("simple_mode_prompt.txt")
|
||||
self.classifier_prompt = self._load_prompt("classifier_prompt.txt")
|
||||
self.scene_classifier_prompt = self._load_prompt("scene_classifier_prompt.txt")
|
||||
# 兼容旧变量名
|
||||
self.system_prompt = self.complex_prompt
|
||||
|
||||
@@ -812,13 +815,13 @@ class PyTreeGenerator:
|
||||
"""
|
||||
logging.info(f"接收到用户请求: {user_prompt}")
|
||||
|
||||
# 第一步：分类（简单/复杂）
|
||||
mode = "complex"
|
||||
# 第一步：场景分类（simple/scene1/scene4）
|
||||
scene_mode = "scene1"
|
||||
try:
|
||||
classifier_resp = self.classifier_client.chat.completions.create(
|
||||
model=self.classifier_model,
|
||||
messages=[
|
||||
{"role": "system", "content": self.classifier_prompt or "你是一个分类器，只输出JSON。"},
|
||||
{"role": "system", "content": self.scene_classifier_prompt or "你是一个分类器，只输出JSON。"},
|
||||
{"role": "user", "content": user_prompt}
|
||||
],
|
||||
temperature=0.0,
|
||||
@@ -830,18 +833,25 @@ class PyTreeGenerator:
|
||||
)
|
||||
class_str = classifier_resp.choices[0].message.content
|
||||
class_obj = json.loads(class_str)
|
||||
if isinstance(class_obj, dict) and class_obj.get("mode") in ("simple", "complex"):
|
||||
mode = class_obj.get("mode")
|
||||
logging.info(f"分类结果: {mode}")
|
||||
if isinstance(class_obj, dict) and class_obj.get("mode") in ("simple", "scene1", "scene4"):
|
||||
scene_mode = class_obj.get("mode")
|
||||
logging.info(f"场景分类结果: {scene_mode}")
|
||||
except Exception as e:
|
||||
logging.warning(f"分类失败，默认按复杂指令处理: {e}")
|
||||
logging.warning(f"场景分类失败，默认按scene1处理: {e}")
|
||||
|
||||
# 第二步：根据模式准备提示词与上下文（简单与复杂都执行检索增强）
|
||||
# 基于模式选择提示词；复杂模式追加一条强制规则，避免模型误输出简单结构
|
||||
use_prompt = self.simple_prompt if mode == "simple" else (
|
||||
(self.complex_prompt or "") +
|
||||
"\n\n【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。"
|
||||
)
|
||||
# 基于场景选择提示词；非simple时追加强制规则，避免模型误输出简单结构
|
||||
if scene_mode == "simple":
|
||||
use_prompt = self.simple_prompt
|
||||
elif scene_mode == "scene4":
|
||||
use_prompt = self.scene4_prompt
|
||||
else:
|
||||
use_prompt = self.scene1_prompt
|
||||
if scene_mode != "simple":
|
||||
use_prompt = (
|
||||
(use_prompt or self.complex_prompt or "") +
|
||||
"\n\n【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。"
|
||||
)
|
||||
final_user_prompt = user_prompt
|
||||
retrieved_context = self._retrieve_context(user_prompt)
|
||||
if retrieved_context:
|
||||
@@ -866,8 +876,9 @@ class PyTreeGenerator:
|
||||
logging.info(f"--- 第 {attempt + 1}/3 次尝试生成Pytree ---")
|
||||
try:
|
||||
# 简单/复杂分流到不同模型与提示词
|
||||
client = self.simple_llm_client if mode == "simple" else self.complex_llm_client
|
||||
model_name = self.simple_model if mode == "simple" else self.complex_model
|
||||
is_simple = scene_mode == "simple"
|
||||
client = self.simple_llm_client if is_simple else self.complex_llm_client
|
||||
model_name = self.simple_model if is_simple else self.complex_model
|
||||
messages = [
|
||||
{"role": "system", "content": use_prompt},
|
||||
{"role": "user", "content": final_user_prompt}
|
||||
@@ -876,7 +887,7 @@ class PyTreeGenerator:
|
||||
response_kwargs = {
|
||||
"model": model_name,
|
||||
"messages": messages,
|
||||
"temperature": 0.1 if mode == "complex" else 0.0,
|
||||
"temperature": 0.0 if is_simple else 0.1,
|
||||
"response_format": {"type": "json_object"}, # 始终强制JSON输出，禁用思考功能
|
||||
"extra_body": {"chat_template_kwargs": {"enable_thinking": False}}
|
||||
}
|
||||
@@ -884,7 +895,7 @@ class PyTreeGenerator:
|
||||
response_kwargs["tools"] = self._get_tool_definitions()
|
||||
response_kwargs["tool_choice"] = "auto"
|
||||
# 基于模式设定最大输出token数（直接在代码中配置）
|
||||
response_kwargs["max_tokens"] = self.simple_max_tokens if mode == "simple" else self.complex_max_tokens
|
||||
response_kwargs["max_tokens"] = self.simple_max_tokens if is_simple else self.complex_max_tokens
|
||||
response = client.chat.completions.create(**response_kwargs)
|
||||
|
||||
# 工具调用处理：执行工具并回填后，强制模型输出JSON
|
||||
@@ -1008,7 +1019,7 @@ class PyTreeGenerator:
|
||||
continue
|
||||
|
||||
# 简单/复杂分别验证与返回
|
||||
if mode == "simple":
|
||||
if scene_mode == "simple":
|
||||
try:
|
||||
jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
|
||||
# 手动检查：简单模式的root节点不能有children（或children必须是空数组）
|
||||
|
||||
@@ -1,2 +1,9 @@
|
||||
无人机当前在地面，到广场查找穿黄色衣服的男子，找到后近距离拍照。
|
||||
无人机当前在空中，回到广场，对长发可疑男子进行拍照。
|
||||
无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。
|
||||
无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。
|
||||
无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。
|
||||
无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。
|
||||
无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。
|
||||
无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。
|
||||
无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。
|
||||
无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的人并拍照。
|
||||
无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。
|
||||
11
tools/test_validate/instructions/scene4.txt
Normal file
11
tools/test_validate/instructions/scene4.txt
Normal file
@@ -0,0 +1,11 @@
|
||||
无人机当前在地面，到广场查找穿红色衣服的人，找到后近距离拍照。
|
||||
无人机当前在空中，回到广场，对戴帽子的人进行拍照。
|
||||
无人机当前在空中，去广场南边40米，对过往的公交车拍张照，然后返航。
|
||||
无人机当前在地面，到广场查找绿色公交车，看见了拍个照片。
|
||||
无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。
|
||||
无人机当前在空中，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航。
|
||||
无人机当前在空中，往广场南边飞40米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。
|
||||
无人机当前在地面，到广场边上的施工区域内，发现有没带安全帽的飞近后拍照。
|
||||
无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。
|
||||
无人机当前在地面，快速去往东边60米，有身穿白色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
|
||||
无人机当前在空中，离白色衣服戴帽子的人太远了照片看不清，贴近到3米距离拍，拍完可以直接返航。
|
||||
8
tools/test_validate/instructions/scene4_1.txt
Normal file
8
tools/test_validate/instructions/scene4_1.txt
Normal file
@@ -0,0 +1,8 @@
|
||||
无人机当前在空中，往广场南边飞40米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。
|
||||
无人机当前在空中，快速去往东边60米，有身穿白色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
|
||||
无人机当前在地面，快速去往东边60米，有身穿白色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
|
||||
无人机当前在空中，离白色衣服戴帽子的人太远了照片看不清，贴近到3米距离拍，拍完可以直接返航。
|
||||
无人机当前在空中，返航。
|
||||
无人机当前在空中，飞往广场。
|
||||
无人机当前在地面，飞往广场。
|
||||
无人机当前再空中，向上移动10米。
|
||||
@@ -4,7 +4,7 @@
|
||||
无人机当前在地面，到广场查找绿色公交车，看见了拍个照片。
|
||||
无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。
|
||||
无人机当前在空中，往广场西边飞200米，持续监控5分钟，发现人就拍照告诉我，到时间可以返航。
|
||||
无人机当前在地面，到广场边上的施工区域内，发现有没带安全帽的飞近后拍照。
|
||||
无人机当前在地面，到广场边上的施工区域内，发现未戴安全帽的飞近后拍照。
|
||||
无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。
|
||||
无人机当前在地面，快速去往东边100米，有身穿黑色衣服，头戴帽子的男子在挟持他人，对其进行拍照。
|
||||
无人机当前在地面，快速去往东边60米，对身穿白色衣服，头戴帽子正在挟持他人的人进行拍照。
|
||||
无人机当前在空中，离黑色衣服戴帽子的人太远了照片看不清，贴近到3米距离拍，拍完可以直接返航。
|
||||
Reference in New Issue
Block a user