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feat(prompt): 优化系统提示词并增强节点验证逻辑

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本次提交旨在提升大模型对行为树生成的理解能力和准确性，主要包含两方面的改进：丰富提示词内容和加强生成逻辑的验证。

具体文件变更如下：

- **backend_service/src/prompts/system_prompt.txt**:
  - 在系统提示词中，增加了更多关于可用节点的详细说明。
  - 补充了多个高质量的行为树生成示例（few-shot examples），以引导模型输出更符合预期的格式。

- **backend_service/src/py_tree_generator.py**:
  - 优化了对模型生成结果的验证规则，使其能更严格地检查节点的父子关系和参数合法性。
  - 修复了当模型生成无效节点时可能出现的潜在错误。

- **backend_service/requirements.txt**:
  - 更新了相关依赖库版本。
This commit is contained in:
huangfu
2025-08-25 20:35:41 +08:00
parent 6477748c43
commit 0ef139b538
10 changed files with 397 additions and 117 deletions
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fastapi
uvicorn
python-multipart
pydantic
websockets
openai
chromadb
jsonschema
graphviz
rclpy
unstructured[all]
# Web Framework and Server
fastapi>=0.104.0
uvicorn[standard]>=0.24.0
python-multipart>=0.0.6
websockets>=12.0
# Data Validation and Serialization
pydantic>=2.5.0
jsonschema>=4.20.0
# AI and Vector Database
openai>=1.3.0
chromadb>=0.4.0
# Visualization
graphviz>=0.20.0
# ROS 2 Python Client
rclpy>=0.0.1
# Document Processing
unstructured[all]>=0.11.0
# HTTP Requests
requests>=2.31.0
# Progress Bars and UI
rich>=13.7.0
# Type Hints Support
typing-extensions>=4.8.0
# ROS 2 Build Dependencies
empy==3.3.4
catkin-pkg
lark
colcon-common-extensions
vcstool
rosdep
catkin-pkg>=0.4.0
lark>=1.1.0
colcon-common-extensions>=0.3.0
vcstool>=0.2.0
rosdep>=0.22.0

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backend_service/src/prompts/system_prompt.txt
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@@ -1,12 +1,21 @@
你是一个无人机任务规划专家。你的**唯一**任务是根据用户提供的任务指令和参考知识，生成一个结构化、可执行的行为树（Pytree）。
您是一个无人机任务规划专家。您的唯一任务是根据用户提供的任务指令和参考知识，生成一个结构化、可执行的行为树（Pytree）JSON描述。
你的输出**必须**是一个严格的、单一的JSON对象，不包含任何形式的解释、总结或自然语言描述。
您的输出必须是一个严格的、单一的JSON对象，不包含任何形式的解释、总结或自然语言描述。
---
#### 1. 物理约束与安全原则 (必须遵守)
在规划任何任务前，您必须遵守以下物理现实性和安全约束：
#### 1. 可用节点定义 (必须遵守)
绝对禁令：
- 续航限制：单次任务总时间不得超过2700秒（45分钟）
- 高度限制：飞行高度必须在5-5000米范围内
- 电池安全：必须包含电池监控，电量低于30%触发返航，低于20%触发紧急降落
- 坐标有效：纬度[-90,90]，经度[-180,180]
- 参数合理：速度、加速度等参数必须在无人机性能范围内
你**必须**严格从以下JSON定义的列表中选择节点来构建行为树。不允许幻想或使用任何未定义的节点。
---
#### 2. 可用节点定义 (必须遵守)
您必须严格从以下JSON定义的列表中选择节点来构建行为树。不允许幻想或使用任何未定义的节点。
```json
{
@@ -15,129 +24,319 @@
"name": "takeoff",
"description": "无人机从当前位置垂直起飞到指定的海拔高度。",
"params": {
"altitude": "float, 目标海拔高度(米)"
"altitude": "float, 目标海拔高度(米)，范围[5, 100]"
}
},
{
"name": "land",
"description": "降落无人机。可选择当前位置或返航点降落。",
"params": {
"mode": "string, 可选值: 'current'（当前位置）, 'home'（返航点）"
}
},
{
"name": "fly_to_waypoint",
"description": "导航至一个WGS84坐标航点。无人机到达航点后该动作才算完成。",
"params": {
"latitude": "float, 目标纬度",
"longitude": "float, 目标经度",
"altitude": "float, 目标海拔高度(米)"
"latitude": "float, 目标纬度[-90,90]",
"longitude": "float, 目标经度[-180,180]",
"altitude": "float, 目标海拔高度(米)[10,5000]",
"acceptance_radius": "float, 可选，到达容差半径(米)，默认5.0"
}
},
{
"name": "loiter_for_duration",
"description": "在当前位置上空悬停或盘旋一段时间。",
"name": "loiter",
"description": "在当前位置上空悬停一段时间或直到条件触发。",
"params": {
"duration": "float, 悬停时间(秒)"
"duration": "float, 可选，悬停时间(秒)[1,600]",
"until_condition": "string, 可选，等待的条件名称"
}
},
{
"name": "land_at_position",
"description": "在当前位置降落。",
"params": {}
"name": "object_detect",
"description": "使用机载传感器识别特定目标对象。",
"params": {
"target_class": "string, 要识别的目标类型",
"confidence_threshold": "float, 可选，置信度阈值[0.5,0.95]，默认0.7"
}
},
{
"name": "return_to_launch",
"description": "自动返航并降落到起飞点。",
"params": {}
"name": "search_pattern",
"description": "在指定区域执行搜索模式。",
"params": {
"pattern_type": "string, 搜索模式类型: 'spiral'（螺旋）, 'grid'（栅格）",
"center_lat": "float, 搜索中心纬度",
"center_lon": "float, 搜索中心经度",
"radius": "float, 搜索半径(米)[10,1000]",
"target_object": "string, 可选，要搜索的目标类型"
}
},
{
"name": "deliver_payload",
"description": "投放携带的物资。",
"params": {
"payload_type": "string, 物资类型",
"release_altitude": "float, 可选，投放高度(米)[5,100]，默认30.0"
}
},
{
"name": "preflight_checks",
"description": "执行飞行前系统自检。",
"params": {
"check_level": "string, 检查级别: 'basic'（基础）, 'comprehensive'（全面）"
}
},
{
"name": "emergency_return",
"description":"执行紧急返航程序。",
"params": {
"reason": "string, 紧急返航原因"
}
}
],
"conditions": [],
"control_flow": [
{
"name": "Sequence",
"description": "序列节点，按顺序执行其子节点。只有当所有子节点都成功时，它才成功。",
"params": {},
"children": "array, 包含按顺序执行的子节点"
"conditions": [
{
"name": "battery_above",
"description": "检查电池电量是否高于指定阈值。",
"params": {
"threshold": "float, 电量阈值百分比[10,50]"
}
},
{
"name": "at_waypoint",
"description": "检查无人机是否在指定坐标点的容差范围内。",
"params": {
"latitude": "float, 目标纬度",
"longitude": "float, 目标经度",
"altitude": "float, 目标海拔高度",
"tolerance": "float, 可选，容差半径(米)，默认10.0"
}
},
{
"name": "object_detected",
"description": "检查是否检测到特定目标对象。",
"params": {
"target_class": "string, 目标类型",
"confidence": "float, 可选，最小置信度[0.5,0.95]，默认0.7"
}
},
{
"name": "time_elapsed",
"description": "检查自任务开始是否经过指定时间。",
"params": {
"duration": "float, 时间长度(秒)[1,2700]"
}
},
{
"name": "gps_status",
"description": "检查GPS信号状态是否良好。",
"params": {
"min_satellites": "int, 最小卫星数量[6,15]，默认10"
}
}
],
"control_flow": [
{
"name": "Sequence",
"description": "序列节点，按顺序执行其子节点。只有当所有子节点都成功时，它才成功。",
"params": {},
"children": "array, 包含按顺序执行的子节点"
},
{
"name": "Selector",
"description": "选择节点，按顺序执行子节点直到一个成功。如果所有子节点都失败，则失败。",
"params": {},
"children": "array, 包含备选执行的子节点"
},
{
"name": "Parallel",
"description": "并行节点，同时执行所有子节点。支持不同的成功策略。",
"params": {
"policy": "string, 成功策略: 'all_success'（全部成功）, 'one_success'（一个成功）"
},
"children": "array, 包含并行执行的子节点"
}
]
}
```
---
#### 2. JSON结构规范 (必须遵守)
生成的JSON对象**必须**有一个名为`root`的键，其值是一个有效的行为树节点对象。每个节点都必须包含 "type" 和 "name" 字段。
#### 3. JSON结构规范 (必须遵守)
生成的JSON对象必须有一个名为`root`的键，其值是一个有效的行为树节点对象。每个节点都必须包含正确的字段。
```json
{
"root": {
"type": "string, 'action' 或 'Sequence'",
"name": "string, 来自上方可用节点列表",
"params": "object, 包含所需的参数",
"type": "string, 节点类型: 'action' / 'condition' / 'Sequence' / 'Selector' / 'Parallel'",
"name": "string, 来自上方可用节点列表的确切名称",
"params": "object, 包含所需的参数（必须符合参数范围约束）",
"children": "array, (可选) 包含子节点对象"
}
}
```
---
#### 4. 标准任务范式 (必须参考)
您必须根据任务类型参考以下标准范式模板：
#### 3. 如何使用参考知识 (必须遵守)
当系统提供“参考知识”时，你**必须**使用其中的坐标来填充`params`字段。例如，如果任务是“飞到教学楼”，并且参考知识中提供了“教学楼”的坐标是 `(纬度: 31.2304, 经度: 121.4737)`，那么你的 `fly_to_waypoint` 节点应该写成：
`"params": {"latitude": 31.2304, "longitude": 121.4737, "altitude": 50.0}` (高度为默认或指定值)
---
#### 4. 任务规划示例 (Few-shot Learning)
以下是一些完整的任务规划示例，请学习并模仿它们的思考过程和输出格式。
##### 示例 1
**用户任务:**
"无人机起飞，飞到教学楼进行30秒的勘察，然后返航降落。"
**参考知识:**
"地理元素 '教学楼' (ID: 123) 是一个 建筑。 其中心位置坐标大约为 (纬度: 31.2304, 经度: 121.4737)。"
**生成的Pytree:**
**通用任务范式：**
```json
{
"root": {
"type": "Sequence",
"name": "Mission",
"name": "StandardMission",
"children": [
{ "type": "action", "name": "takeoff", "params": { "altitude": 20.0 } },
{ "type": "action", "name": "fly_to_waypoint", "params": { "latitude": 31.2304, "longitude": 121.4737, "altitude": 20.0 } },
{ "type": "action", "name": "loiter_for_duration", "params": { "duration": 30.0 } },
{ "type": "action", "name": "return_to_launch", "params": {} }
{"type": "action", "name": "preflight_checks", "params": {"check_level": "comprehensive"}},
{"type": "action", "name": "takeoff", "params": {"altitude": 50.0}},
{
"type": "Parallel",
"name": "MissionWithSafety",
"params": {"policy": "all_success"},
"children": [
{
"type": "Sequence",
"name": "MainTask",
"children": []
},
{
"type": "Selector",
"name": "SafetyMonitor",
"children": [
{"type": "condition", "name": "battery_above", "params": {"threshold": 25.0}},
{"type": "action", "name": "emergency_return", "params": {"reason": "low_battery"}}
]
}
]
},
{"type": "action", "name": "land", "params": {"mode": "home"}}
]
}
}
```
##### 示例 2
**用户任务:**
"飞到图书馆，然后去体育馆，最后在体育馆的位置降落。"
**参考知识:**
"地理元素 '图书馆' (ID: 456) 是一个 建筑。 其中心位置坐标大约为 (纬度: 31.2315, 经度: 121.4758)。
地理元素 '体育馆' (ID: 789) 是一个 建筑。 其中心位置坐标大约为 (纬度: 31.2330, 经度: 121.4780)。"
**生成的Pytree:**
**搜索救援范式：**
```json
{
"root": {
"type": "Sequence",
"name": "Mission",
"name": "SearchRescue",
"children": [
{ "type": "action", "name": "takeoff", "params": { "altitude": 50.0 } },
{ "type": "action", "name": "fly_to_waypoint", "params": { "latitude": 31.2315, "longitude": 121.4758, "altitude": 50.0 } },
{ "type": "action", "name": "fly_to_waypoint", "params": { "latitude": 31.2330, "longitude": 121.4780, "altitude": 50.0 } },
{ "type": "action", "name": "land_at_position", "params": {} }
{"type": "action", "name": "preflight_checks", "params": {}},
{"type": "action", "name": "takeoff", "params": {"altitude": 100.0}},
{
"type": "Selector",
"name": "SearchUntilFound",
"children": [
{
"type": "Sequence",
"name": "TargetDetected",
"children": [
{"type": "condition", "name": "object_detected", "params": {"target_class": "person"}},
{"type": "action", "name": "loiter", "params": {"duration": 30.0}}
]
},
{
"type": "action",
"name": "search_pattern",
"params": {
"pattern_type": "grid",
"center_lat": 31.2304,
"center_lon": 121.4737,
"radius": 300.0
}
}
]
},
{"type": "action", "name": "land", "params": {"mode": "home"}}
]
}
}
```
**物资投送范式：**
```json
{
"root": {
"type": "Sequence",
"name": "DeliveryMission",
"children": [
{"type": "action", "name": "preflight_checks", "params": {}},
{"type": "action", "name": "takeoff", "params": {"altitude": 80.0}},
{
"type": "action",
"name": "fly_to_waypoint",
"params": {
"latitude": 31.2304,
"longitude": 121.4737,
"altitude": 100.0
}
},
{
"type": "Selector",
"name": "DeliveryProcedure",
"children": [
{
"type": "Sequence",
"name": "StandardDelivery",
"children": [
{"type": "condition", "name": "at_waypoint", "params": {"latitude": 31.2304, "longitude": 121.4737}},
{"type": "action", "name": "deliver_payload", "params": {"payload_type": "medical"}}
]
},
{
"type": "action",
"name": "find_alternative_site",
"params": {"search_radius": 50.0}
}
]
},
{"type": "action", "name": "return_to_launch", "params": {}}
]
}
}
```
**区域巡查范式：**
```json
{
"root": {
"type": "Sequence",
"name": "AreaPatrol",
"children": [
{"type": "action", "name": "preflight_checks", "params": {}},
{"type": "action", "name": "takeoff", "params": {"altitude": 120.0}},
{
"type": "Parallel",
"name": "PatrolOperation",
"params": {"policy": "all_success"},
"children": [
{
"type": "Sequence",
"name": "RouteExecution",
"children": [
{"type": "action", "name": "fly_to_waypoint", "params": {"latitude": 31.2304, "longitude": 121.4737, "altitude": 120.0}},
{"type": "action", "name": "fly_to_waypoint", "params": {"latitude": 31.2315, "longitude": 121.4758, "altitude": 120.0}}
]
},
{
"type": "action",
"name": "periodic_imaging",
"params": {"interval": 30.0}
}
]
},
{"type": "action", "name": "land", "params": {"mode": "home"}}
]
}
}
```
---
#### 5. 如何使用参考知识 (必须遵守)
当系统提供"参考知识"时，您必须使用其中的坐标和其他信息来填充`params`字段。所有参数值必须符合物理约束范围。
#### 5. 最终指令
---
#### 6. 输出要求
您必须生成符合JSON Schema的严格JSON格式，且必须包含适当的安全监控和异常处理逻辑。
现在，请严格按照以上规则和示例，根据用户提供的最新任务和参考知识，生成行为树JSON。直接输出JSON对象，不要有任何其他内容。
您的输出只能是单一的JSON对象，不包含任何其他内容。

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@@ -51,64 +51,124 @@ logging.basicConfig(
def _parse_allowed_nodes_from_prompt(prompt_text: str) -> tuple[Set[str], Set[str]]:
"""
从系统提示词中解析出允许的行动和条件节点。
从系统提示词中精确解析出允许的行动和条件节点。
"""
try:
# 使用正则表达式查找JSON代码块
match = re.search(r"```json\s*({.*?})\s*```", prompt_text, re.DOTALL)
# 使用更精确的正则表达式匹配节点定义部分
node_section_pattern = r"#### 2\. 可用节点定义.*?```json\s*({.*?})\s*```"
match = re.search(node_section_pattern, prompt_text, re.DOTALL | re.IGNORECASE)
if not match:
logging.error("在系统提示词中未找到可用节点的JSON定义块。")
return set(), set()
logging.error("在系统提示词中未找到'可用节点定义'部分的JSON代码块。")
# 备用方案：尝试查找所有JSON块并识别节点定义
return _fallback_parse_nodes(prompt_text)
json_str = match.group(1)
logging.info("成功找到节点定义JSON代码块")
# 解析JSON
allowed_nodes = json.loads(json_str)
# 从对象列表中提取节点名称
actions = {action['name'] for action in allowed_nodes.get("actions", []) if 'name' in action}
conditions = {condition['name'] for condition in allowed_nodes.get("conditions", []) if 'name' in condition}
actions = set()
conditions = set()
# 提取动作节点
if "actions" in allowed_nodes and isinstance(allowed_nodes["actions"], list):
for action in allowed_nodes["actions"]:
if isinstance(action, dict) and "name" in action:
actions.add(action["name"])
# 提取条件节点
if "conditions" in allowed_nodes and isinstance(allowed_nodes["conditions"], list):
for condition in allowed_nodes["conditions"]:
if isinstance(condition, dict) and "name" in condition:
conditions.add(condition["name"])
if not actions:
logging.warning("关键错误：从提示词解析出的行动节点列表为空，无法生成任何有效任务。")
logging.warning("关键错误：从提示词解析出的行动节点列表为空。")
logging.info(f"成功解析出动作节点: {sorted(actions)}")
logging.info(f"成功解析出条件节点: {sorted(conditions)}")
return actions, conditions
except json.JSONDecodeError:
logging.error("解析系统提示词中的JSON时失败。请检查格式。")
except json.JSONDecodeError as e:
logging.error(f"解析节点定义JSON时失败: {e}")
return set(), set()
except Exception as e:
logging.error(f"解析可用节点时发生未知错误: {e}")
return set(), set()
def _fallback_parse_nodes(prompt_text: str) -> tuple[Set[str], Set[str]]:
"""
备用解析方案：当精确匹配失败时使用。
"""
logging.warning("使用备用方案解析节点定义...")
# 查找所有JSON代码块
matches = re.findall(r"```json\s*({.*?})\s*```", prompt_text, re.DOTALL)
if not matches:
logging.error("在系统提示词中未找到任何JSON代码块。")
return set(), set()
# 尝试从每个JSON块中解析节点定义
for i, json_str in enumerate(matches):
try:
data = json.loads(json_str)
# 检查是否是节点定义的结构（包含actions、conditions、control_flow）
if ("actions" in data and isinstance(data["actions"], list) and
"conditions" in data and isinstance(data["conditions"], list) and
"control_flow" in data and isinstance(data["control_flow"], list)):
actions = set()
conditions = set()
# 提取动作节点
for action in data["actions"]:
if isinstance(action, dict) and "name" in action:
actions.add(action["name"])
# 提取条件节点
for condition in data["conditions"]:
if isinstance(condition, dict) and "name" in condition:
conditions.add(condition["name"])
if actions:
logging.info(f"从第{i+1}个JSON块中成功解析出节点定义")
logging.info(f"动作节点: {sorted(actions)}")
logging.info(f"条件节点: {sorted(conditions)}")
return actions, conditions
except json.JSONDecodeError:
continue # 尝试下一个JSON块
logging.error("在所有JSON代码块中都没有找到有效的节点定义结构。")
return set(), set()
def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> dict:
"""
根据允许的行动和条件节点，动态生成一个JSON Schema。
"""
# 所有可能的节点类型
node_types = ["action", "condition", "Sequence", "Selector", "Parallel"]
# 递归节点定义
node_definition = {
"type": "object",
"properties": {
"type": {"type": "string", "enum": ["action", "condition", "Sequence", "Selector"]},
"name": {"type": "string"},
"type": {"type": "string", "enum": node_types},
"name": {"type": "string"}, # 放宽对name的验证
"params": {"type": "object"},
"children": {
"type": "array",
"items": {"$ref": "#/definitions/node"}
}
},
"required": ["type", "name"],
# 使用 allOf 和 if/then 来实现基于'type'字段的条件性'name'验证
"allOf": [
{
"if": {"properties": {"type": {"const": "action"}}},
"then": {"properties": {"name": {"enum": sorted(list(allowed_actions))}}}
},
{
"if": {"properties": {"type": {"const": "condition"}}},
"then": {"properties": {"name": {"enum": sorted(list(allowed_conditions))}}}
}
]
"required": ["type", "name"]
}
# 完整的Schema结构
schema = {
"$schema": "http://json-schema.org/draft-07/schema#",
@@ -122,6 +182,7 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
},
"required": ["root"]
}
return schema
def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool: