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huangfu
2026-01-16 16:05:52 +08:00
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backend_service/src/__pycache__/py_tree_generator.cpython-313.pyc
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backend_service/src/prompts/classifier_prompt.txt
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@@ -1,8 +1,8 @@
你是一个严格的任务分类器。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可用节点定义，判断其为“简单”或“复杂”。
- 简单：单一原子动作即可完成（例如"起飞""飞机自检""移动到某地(已给定坐标)""对着某点环绕XY圈（如'对着学生宿舍环绕三十两圈'）"等），且无需行为树。
- 复杂：需要多步流程、搜索/检测/跟踪/评估、战损确认、或需要模板化任务结构。
- 简单：单一动作节点即可完成（例如"起飞""飞机自检""移动到某地(已给定坐标)"等），且无需行为树。
- 复杂：需要两个动作及以上、多步流程、搜索/检测/跟踪/评估、战损确认、或需要模板化任务结构。
输出格式（严格遵守）：
{"mode":"simple"} 或 {"mode":"complex"}
@@ -11,14 +11,43 @@
```json
{
"actions": [
{"name": "takeoff"}, {"name": "land"}, {"name": "fly_to_waypoint"}, {"name": "move_direction"}, {"name": "orbit_around_point"}, {"name": "orbit_around_target"}, {"name": "loiter"},
{"name": "object_detect"}, {"name": "strike_target"}, {"name": "battle_damage_assessment"},
{"name": "search_pattern"}, {"name": "track_object"}, {"name": "deliver_payload"},
{"name": "preflight_checks"}, {"name": "take_picture"}
{"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"}},
{"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东北天坐标系）","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,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":"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":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
{"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
{"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"}},
{"name":"emergency_return","params":{"reason":"string"}},
{"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"}, {"name": "object_detected"},
{"name": "target_destroyed"}, {"name": "time_elapsed"}
{"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"}},
{"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选，目标属性","confidence":"[0.5,1.0]默认0.8"}},
{"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
{"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
],
"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"},"children":"子节点数组（同时执行，严禁用'one_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）"}
]
}
```
# 需要辨析的情况
1. "无人机当前在空中，往东边飞50米,停个20s就好返航了。"这样的指令应该被判定为复杂，因为需要多步执行。

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backend_service/src/prompts/simple_mode_prompt.txt
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@@ -9,37 +9,38 @@
示例：
- “起飞到10米” → {"root":{"type":"action","name":"takeoff","params":{"altitude":10.0}}}
- “移动到(120,80,20)” → {"root":{"type":"action","name":"fly_to_waypoint","params":{"x":120.0,"y":80.0,"z":20.0,"acceptance_radius":2.0}}}
- “飞机自检” → {"root":{"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}}}
- “飞机自检” → {"root":{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}}}
—— 可用节点定义——
```json
{
"actions": [
{"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)，范围[1, 100]，默认为2"}},
{"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": "导航至一个指定坐标点。使用相对坐标系（x,y,z），单位为米。", "params": {"x": "float", "y": "float", "z": "float", "acceptance_radius": "float, 可选，默认2.0"}},
{"name": "move_direction", "description": "按指定方向直线移动。方向可为绝对方位或相对机体朝向。", "params": {"direction": "string: north|south|east|west|forward|backward|left|right", "distance": "float[1,10000], 可选, 不指定则持续移动", "speed": "float, 可选"}},
{"name": "approach_target", "description": "快速趋近目标至固定距离。", "params": {"target_class": "string, 要趋近的目标类别", "description": "string, 可选", "stop_distance": "float, 期望的最终停止距离", "speed": "float, 可选"}},
{"name": "rotate", "description": "旋转固定角度。", "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_search", "description": "原地旋转搜索目标。", "params": {"target_class": "string, 要搜寻的目标类别", "description": "string, 可选", "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", "description": "前端弹窗是否继续执行后续任务。", "params": {}},
{"name": "orbit_around_point", "description": "以给定中心点为中心，等速圆周飞行指定圈数。", "params": {"center_x": "float", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 可选, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 可选, 默认true"}},
{"name": "orbit_around_target", "description": "以目标为中心，等速圆周飞行指定圈数（需已有目标）。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 可选, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 可选, 默认true"}},
{"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, 可选[1,600]", "until_condition": "string, 可选"}},
{"name": "object_detect", "description": "识别特定目标对象。一般是用户提到的需要检测的目标；如果用户给出了需要探索的目标的优先级，比如蓝色球危险性大于红色球大于绿色球，需要检测最危险的球，此处应给出检测优先级，描述应当为 '蓝>红>绿'", "params": {"target_class": "string, 要识别的目标类别，必须为以下值之一: balloon,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": "string, 可选", "count": "int, 可选, 默认1"}},
{"name": "strike_target", "description": "对已识别目标进行打击。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
{"name": "battle_damage_assessment", "description": "战损评估。", "params": {"target_class": "string", "assessment_time": "float[5-60], 默认15.0"}},
{"name": "search_pattern", "description": "按模式搜索。", "params": {"pattern_type": "string: spiral|grid", "center_x": "float", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
{"name": "track_object", "description": "持续跟踪目标。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "track_time": "float[1,600], 默认30.0", "min_confidence": "float[0.5-1.0], 默认0.7", "safe_distance": "float[2-50], 默认10.0"}},
{"name": "deliver_payload", "description": "投放物资。", "params": {"payload_type": "string", "release_altitude": "float[2,100], 默认5.0"}},
{"name": "preflight_checks", "description": "飞行前系统自检。", "params": {"check_level": "string: basic|comprehensive"}},
{"name": "take_picture", "description": "使用机载相机拍摄照片。", "params": {}}
{"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"}},
{"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东北天坐标系）","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,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":"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":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
{"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
{"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"}},
{"name":"return","params":{"reason":"string"}},
{"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", "description": "在指定坐标容差范围内。", "params": {"x": "float", "y": "float", "z": "float", "tolerance": "float, 可选, 默认3.0"}},
{"name": "object_detected", "description": "检测到特定目标。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
{"name": "target_destroyed", "description": "目标已被摧毁。", "params": {"target_class": "string", "description": "string, 可选", "confidence": "float[0.5-1.0], 默认0.8"}},
{"name": "time_elapsed", "description": "时间经过。", "params": {"duration": "float[1,2700]"}}
{"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"}},
{"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选，目标属性","confidence":"[0.5,1.0]默认0.8"}},
{"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
{"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
]
}
```
@@ -50,14 +51,4 @@
- fly_to_waypoint.x,y: [-10000, 10000]
- search_pattern.radius: [5, 1000]
- move_direction.distance: [1, 10000]
- orbit_around_point.radius: [5, 1000]
- orbit_around_target.radius: [5, 1000]
- orbit_around_point/target.laps: [1, 20]
- orbit_around_point/target.speed_mps: [0.5, 15]
- 若参考知识提供坐标，必须使用并裁剪到约束范围内
—— 口令转化规则（环绕类）——
- “环绕X米Y圈” → 若有目标上下文则使用 `orbit_around_target`，否则根据是否给出中心坐标选择 `orbit_around_point`；`radius=X`，`laps=Y`，默认 `clockwise=true`，`gimbal_lock=true`
- “顺时针/逆时针” → `clockwise=true/false`
- “等速” → 若未给速度则 `speed_mps` 采用默认值（例如3.0）；若口令指明速度，裁剪到[0.5,15]
- “以(x,y,z)为中心”/“当前位置为中心” → 选择 `orbit_around_point` 并填充 `center_x/center_y/center_z`

232
backend_service/src/prompts/system_prompt.txt
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@@ -8,34 +8,30 @@
"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"}},
{"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":"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,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东北天坐标系）","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":"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":"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":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
{"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
{"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":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
{"name":"emergency_return","params":{"reason":"string"}},
{"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"}},
{"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选，目标属性","confidence":"[0.5,1.0]默认0.8"}},
{"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
{"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}}
{"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"},"children":"子节点数组（同时执行，严禁用'one_success'）"}
{"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）"}
@@ -55,20 +51,24 @@
## 三、标准任务结构模板（单次起降流程）
大多数任务应遵循“起飞 -> 接近 -> 执行 -> 返航/降落”的单次闭环流程，参考结构如下：
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":"preflight_checks","params":{"check_level":"comprehensive"}},
{"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) ---
// --- 任务1执行---
{"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"}},
// -------------------------------
// ----条件判断(根据指令替换) -----
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
// --- 任务2执行---
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子"}},
// 默认不需要降落节点，除非用户明确要求
]
}
@@ -78,7 +78,8 @@
## 四、场景示例（请灵活参考）
#### 场景 1：线性搜索任务（Sequence + Selector）
**指令**：“去研究所正大门，搜索扎辫子女子并拍照。”
**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
{
@@ -110,13 +111,16 @@
```
#### 场景 2：带中断逻辑的巡逻（Selector 示例）
**指令**：“飞往航点A。如果途中发现可疑人员，则悬停。”
**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",
@@ -127,6 +131,7 @@
"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}}
]
},
@@ -138,149 +143,98 @@
}
```
#### 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)
#### 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": {
"name": "主任务-监控与拍照",
"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
{
"name": "fly_to_waypoint",
"type": "action",
"params": {"x": 50.0, "y": 50.0, "z": 10.0}
},
{
"name": "并行监控5分钟",
"type": "Parallel",
"name": "FlyAndInspectToA",
"params": { "policy": "success_on_one" },
"children": [
{"type":"action","name":"fly_to_waypoint","params":{"x":-24.0,"y":241.8,"z":12.0}},
{
"type": "Selector",
"name": "OpportunisticPhoto",
"children": [
{
"name": "loiter",
"type": "action",
"params": { "duration": 300 }
},
{
"name": "拍照循环永不成功",
"type": "decorator",
"child": {
"name": "DetectAndShoot",
"type": "Sequence",
"children": [
{
"type": "decorator",
"name": "SuccessIsFailure",
"type": "decorator",
"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}}
]
"name": "check_and_photo",
"type": "Sequence",
"children": [
{"name": "object_detect", "type": "action", "params": { "target_class": "person" }},
{"name": "object_detected", "type": "condition", "params": { "target_class": "person" }},
{"name": "take_photos", "type": "action", "params": { "target_class": "person" }}
]
}
},
{"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}}
]
}
]
"name": "return_emergency",
"type": "action",
"params": {"reason": "返航"} // 返航回起飞点
}
]
}
}
```
## 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` |
|-----------------------------|-----------------|-------------------------|
| 红气球＞蓝气球＞绿气球 | `balloon` | `（红＞蓝＞绿）` |
| 军用卡车＞民用卡车＞面包车 | `truck` | `（军用卡车＞民用卡车＞面包车）` |
## 六、高频错误规避
1. 优先级排序不可修改`target_class`，仅用`description`填排序规则；
2. `track_object`必传`track_time`；
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. 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
1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`
2. 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
3. 在条件节点执行前，必须有相应动作节点！如object_detected节点前必须是rotate_search等搜索类节点
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“紧急返航”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**：当指令仅要求“往/向/去往 + 东/西/南/北/前/后/左/右 + 飞/移动 + X米”（基于当前位置相对移动）且**未提及具体参照地点名词**（如“广场”、“大门”）时，**必须**使用`move_direction`节点，**严禁**计算坐标使用`fly_to_waypoint`。
## 七、输出要求
## 七、坐标计算规则（东北天坐标系 ENU）
本系统统一使用东北天（ENU）坐标系：
- **X轴**：正方向为**东** (East)，负方向为**西** (West)
- **Y轴**：正方向为**北** (North)，负方向为**南** (South)
- **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`：**
假设参照点坐标为 $(x_0, y_0, z_0)$，偏移距离为 $d$：
- **"去广场东边 $d$ 米"**：目标坐标 $(x_0 + d, y_0, z_0)$ （使用 `fly_to_waypoint`）
- **"去广场西边 $d$ 米"**：目标坐标 $(x_0 - d, y_0, z_0)$ （使用 `fly_to_waypoint`）
- **"去广场北边 $d$ 米"**：目标坐标 $(x_0, y_0 + d, z_0)$ （使用 `fly_to_waypoint`）
- **"去广场南边 $d$ 米"**：目标坐标 $(x_0, y_0 - d, z_0)$ （使用 `fly_to_waypoint`）
- **"往上/升高 $d$ 米"**：目标坐标 $(x_0, y_0, z_0 + d)$
（注意：比如指令为“飞往东边100米”，请直接使用 `move_direction` 节点，无需计算坐标）
**示例**：
若"广场"坐标为 $(-17, 360, 3)$：
- "去广场**东边**20米" -> 目标点 $(3, 360, 3)$
- "去广场**南边**30米" -> 目标点 $(-17, 330, 3)$
## 八、输出要求
仅输出1个严格符合上述所有规则的JSON对象。

91
backend_service/src/py_tree_generator.py
View File

@@ -282,6 +282,65 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
}
}
}
},
# 飞行序列节点的参数验证
{
"if": {
"properties": {
"type": {"pattern": "^[Aa][Cc][Tt][Ii][Oo][Nn]$"},
"name": {"const": "fly_sequence"}
}
},
"then": {
"properties": {
"params": {
"type": "object",
"properties": {
"waypoints": {
"type": "array",
"items": {
"type": "object",
"properties": {
"x": {"type": "number"},
"y": {"type": "number"},
"z": {"type": "number"}
},
"required": ["x", "y", "z"]
},
"minItems": 1
},
"coordinate_frame": {"type": "string", "enum": ["global", "local_enu"]},
"speed": {"type": "number"}
},
"required": ["waypoints", "coordinate_frame"],
"additionalProperties": False
}
}
}
},
# 抵近目标节点的参数验证
{
"if": {
"properties": {
"type": {"pattern": "^[Aa][Cc][Tt][Ii][Oo][Nn]$"},
"name": {"const": "approach_target"}
}
},
"then": {
"properties": {
"params": {
"type": "object",
"properties": {
"target_class": {"type": "string"},
"description": {"type": "string"},
"stop_distance": {"type": "number"},
"speed": {"type": "number"}
},
"required": ["target_class", "stop_distance"],
"additionalProperties": False
}
}
}
}
]
}
@@ -602,6 +661,30 @@ class PyTreeGenerator:
logging.error(f"从向量数据库检索时发生错误: {e}")
return None
def _save_history(self, prompt: str, result_dict: dict):
"""保存请求和响应历史记录"""
import datetime
try:
timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
# 确保history目录存在
history_dir = os.path.join(self.base_dir, '..', 'history')
os.makedirs(history_dir, exist_ok=True)
history_file = os.path.join(history_dir, f"{timestamp}_plan.json")
record = {
"timestamp": datetime.datetime.now().isoformat(),
"request": prompt,
"response": result_dict
}
with open(history_file, 'w', encoding='utf-8') as f:
json.dump(record, f, ensure_ascii=False, indent=2)
logging.info(f"💾 历史记录已保存: {history_file}")
except Exception as e:
logging.error(f"保存历史记录失败: {e}")
async def generate(self, user_prompt: str) -> Dict[str, Any]:
"""
Generates a py_tree.json structure based on the user's prompt.
@@ -798,6 +881,10 @@ class PyTreeGenerator:
logging.warning(f"保存推理链Markdown失败: {e}")
# 添加 final_prompt 到返回结果
pytree_dict['final_prompt'] = final_prompt
# 保存历史记录
self._save_history(user_prompt, pytree_dict)
return pytree_dict
# 验证生成的复杂行为树
@@ -832,6 +919,10 @@ class PyTreeGenerator:
logging.warning(f"保存推理链Markdown失败: {e}")
# 添加 final_prompt 到返回结果
pytree_dict['final_prompt'] = final_prompt
# 保存历史记录
self._save_history(user_prompt, pytree_dict)
return pytree_dict
else:
# 打印未通过验证的Pytree以便排查