增加环绕侦察场景适配

2026-01-08 15:44:38 +08:00
parent 3eba1f962b
commit 10c5bb5a8a
5441 changed files with 40219 additions and 379695 deletions
--- a/backend_service/src/pycache/init.cpython-312.pyc
+++ b/backend_service/src/pycache/init.cpython-312.pyc
--- a/backend_service/src/pycache/init.cpython-313.pyc
+++ b/backend_service/src/pycache/init.cpython-313.pyc
--- a/backend_service/src/pycache/main.cpython-312.pyc
+++ b/backend_service/src/pycache/main.cpython-312.pyc
--- a/backend_service/src/pycache/main.cpython-313.pyc
+++ b/backend_service/src/pycache/main.cpython-313.pyc
--- a/backend_service/src/pycache/models.cpython-313.pyc
+++ b/backend_service/src/pycache/models.cpython-313.pyc
--- a/backend_service/src/pycache/py_tree_generator.cpython-313.pyc
+++ b/backend_service/src/pycache/py_tree_generator.cpython-313.pyc
--- a/backend_service/src/pycache/websocket_manager.cpython-313.pyc
+++ b/backend_service/src/pycache/websocket_manager.cpython-313.pyc
--- a/backend_service/src/prompts/system_prompt.txt
+++ b/backend_service/src/prompts/system_prompt.txt
@@ -11,11 +11,9 @@
    {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
    {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动","speed":"float,可选"}},
    {"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,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","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":"string,要搜寻的目标类别","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":"orbit_around_point","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
-    {"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选，目标属性","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
    {"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","description":"可选，","count":"默认1"}},
    {"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
@@ -71,7 +69,7 @@
      {"type":"action","name":"rotate_search","params":{"target_class":"person","description":"目标描述"}},
      {"type":"action","name":"object_detect","params":{"target_class":"person","description":"目标描述"}},
      // -------------------------------
-      {"type":"action","name":"land","params":{"mode":"home"}}
+      // 默认不需要降落节点，除非用户明确要求
    ]
  }
 }
@@ -105,8 +103,7 @@
          },
          {"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
        ]
-      },
-      {"type":"action","name":"land","params":{"mode":"home"}}
+      }
    ]
  }
 }
@@ -141,6 +138,134 @@
 }
 ```

+#### 场景 3：环绕侦察类任务
+**指令**：“去面前的大楼三层/12米高，绕着外围看有没有打开的窗户，发现则进行拍照。”
+**参考知识**：{"text": "面前的大楼外围四个点坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。"}
+**结构**：Sequence (按顺序执行)
+```json
+{
+  "root": {
+    "type": "Sequence",
+    "name": "SurroundAndInspect",
+    "children": [
+      {"type":"action","name":"takeoff","params":{"altitude":12.0}},
+      // 移动到A点，并在此过程中持续检测
+      {
+        "type": "Parallel",
+        "name": "FlyAndInspectToA",
+        "children": [
+           {"type":"action","name":"fly_to_waypoint","params":{"x":-24.0,"y":241.8,"z":12.0}},
+           {
+             "type": "Selector", 
+             "name": "OpportunisticPhoto",
+             "children": [
+                {
+                  "type": "decorator",
+                  "name": "SuccessIsFailure",
+                  "child": {
+                    "type": "Sequence",
+                    "name": "DetectAndCapture",
+                    "children": [
+                      {"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
+                      {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
+                      {"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
+                    ]
+                  }
+                },
+                {"type":"action","name":"loiter","params":{"duration":0.1}} // 占位动作
+             ]
+           }
+        ]
+      },
+      // 移动到B点...
+      {
+        "type": "Parallel",
+        "name": "FlyAndInspectToB",
+        "children": [
+           {"type":"action","name":"fly_to_waypoint","params":{"x":-108.5,"y":241.8,"z":12.0}},
+           {
+             "type": "Selector",
+             "name": "OpportunisticPhoto",
+             "children": [
+                {
+                  "type": "decorator",
+                  "name": "SuccessIsFailure",
+                  "child": {
+                    "type": "Sequence",
+                    "name": "DetectAndCapture",
+                    "children": [
+                      {"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
+                      {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
+                      {"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
+                    ]
+                  }
+                },
+                {"type":"action","name":"loiter","params":{"duration":0.1}}
+             ]
+           }
+        ]
+      },
+      // 移动到C点...
+      {
+        "type": "Parallel",
+        "name": "FlyAndInspectToC",
+        "children": [
+           {"type":"action","name":"fly_to_waypoint","params":{"x":-108.5,"y":289.8,"z":12.0}},
+           {
+             "type": "Selector",
+             "name": "OpportunisticPhoto",
+             "children": [
+                {
+                  "type": "decorator",
+                  "name": "SuccessIsFailure",
+                  "child": {
+                    "type": "Sequence",
+                    "name": "DetectAndCapture",
+                    "children": [
+                      {"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
+                      {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
+                      {"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
+                    ]
+                  }
+                },
+                {"type":"action","name":"loiter","params":{"duration":0.1}}
+             ]
+           }
+        ]
+      },
+      // 移动到D点...
+      {
+        "type": "Parallel",
+        "name": "FlyAndInspectToD",
+        "children": [
+           {"type":"action","name":"fly_to_waypoint","params":{"x":-24.0,"y":292.8,"z":12.0}},
+           {
+             "type": "Selector",
+             "name": "OpportunisticPhoto",
+             "children": [
+                {
+                  "type": "decorator",
+                  "name": "SuccessIsFailure",
+                  "child": {
+                    "type": "Sequence",
+                    "name": "DetectAndCapture",
+                    "children": [
+                      {"type":"action","name":"object_detect","params":{"target_class":"window","description":"open window"}},
+                      {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"open window"}},
+                      {"type":"action","name":"take_photos","params":{"target_class":"window","description":"open window","track_time":5.0}}
+                    ]
+                  }
+                },
+                {"type":"action","name":"loiter","params":{"duration":0.1}}
+             ]
+           }
+        ]
+      }
+    ]
+  }
+}
+```
+
 ## 五、优先级排序任务通用示例
 当用户指令中明确提出有多个待考察且具有优先级关系的物体时，节点描述须为优先级关系。
 | 用户指令场景                | `target_class`  | `description`          |
@@ -154,7 +279,8 @@
 3. `gps_status`的`min_satellites`必须在6-15之间；
 4. 严禁输出 markdown 代码块标记，直接输出 JSON 纯文本；
 5. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`；
-6. 当用户指令中要求执行动作前增加人工确认时，比如“我确认后拍照”，则必须在拍照动作前增加manual_confirmation节点
+6. rotate与rotate_search动作节点意思是无人机以自身为原点旋转，而非围绕外部点旋转
+7. 当用户指令中要求执行动作前增加人工确认时，比如“我确认后拍照”，则必须在拍照动作前增加manual_confirmation节点

 ## 七、输出要求
 仅输出1个严格符合上述所有规则的JSON对象。
--- a/backend_service/src/py_tree_generator.py
+++ b/backend_service/src/py_tree_generator.py
@@ -485,6 +485,11 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
    
    # 递归处理子节点 (Sequence, Selector, Parallel 等)
    children = node.get("children", [])
+    
+    # 兼容 decorator 类型的 child 字段 (处理为单元素列表以便统一逻辑)
+    if node_type == 'decorator' and 'child' in node:
+        children = [node['child']]
+        
    if children:
        # 记录所有子节点的ID
        child_ids = []
@@ -501,10 +506,10 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
                for cid in child_ids:
                    s.node(cid)

-    # 递归处理单子节点 (Decorator)
-    child = node.get("child")
-    if child:
-        _add_nodes_and_edges(child, dot, current_id)
+    # 递归处理单子节点 (Decorator) - 已合并到 children 处理逻辑中，此处删除旧逻辑
+    # child = node.get("child")
+    # if child:
+    #     _add_nodes_and_edges(child, dot, current_id)
    
    return current_id