优化交互式测试验证脚本，针对场景4修改提示词以及代码
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@@ -18,7 +18,11 @@
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{"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"}},
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{"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）"}},
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{"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"}},
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{"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"}},
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{"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"}},
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{"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"}},
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{"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"}},
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{"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"}},
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{"name": "manual_confirmation", "description": "前端弹窗是否继续执行后续任务。", "params": {}},
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{"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"}},
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{"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"}},
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{"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"}},
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@@ -32,7 +36,6 @@
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{"name": "emergency_return", "description": "执行紧急返航程序。", "params": {"reason": "string"}}
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],
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"conditions": [
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{"name": "battery_above", "description": "电池电量高于阈值。", "params": {"threshold": "float[0.0,1.0]"}},
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{"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"}},
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{"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"}},
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{"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"}},
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@@ -58,4 +61,4 @@
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- “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`
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- “顺时针/逆时针” → `clockwise=true/false`
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- “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]
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- “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`
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- “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`
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@@ -9,7 +9,11 @@
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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"}},
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{"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动"}},
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{"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"}},
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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,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":"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"}},
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{"name":"manual_confirmation","params":{}},
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{"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"}},
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{"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"}},
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{"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
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@@ -20,10 +24,10 @@
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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":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
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{"name":"emergency_return","params":{"reason":"string"}}
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{"name":"emergency_return","params":{"reason":"string"}},
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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":"battery_above","params":{"threshold":"[0.0,1.0]，必传"}},
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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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{"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"}},
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@@ -34,6 +38,9 @@
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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"},"children":"子节点数组（同时执行，严禁用'one_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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@@ -42,53 +49,91 @@
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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"`（与`name`字段值完全一致）；
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2. **`name`**：必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值（如“gps_status”不可错写为“gps_check”）；
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3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数（如优先级排序不可加“priority”字段，仅用`description`）；
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4. **`children`**：仅控制流节点必含（子节点数组），动作/条件节点无此字段。
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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、行为树固定结构（通用不变，确保安全验证）
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根节点必须是`Parallel`，`children`含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不随任务类型（含优先级排序）修改：
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## 三、标准任务结构模板（单次起降流程）
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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：
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```json
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{
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"root": {
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"type": "Parallel",
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"name": "MissionWithSafety",
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"params": {"policy": "all_success"},
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"type": "Sequence",
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"name": "MainTask",
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"children": [
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{
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"type": "Sequence",
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"name": "MainTask",
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"params": {},
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"children": [
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// 通用主任务步骤（含优先级排序任务示例，需按用户指令替换）：
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{"type":"action","name":"preflight_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":200.0,"y":150.0,"z":10.0}}, // 搜索区坐标（用户未给时填合理值）
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{"type":"action","name":"search_pattern","params":{"pattern_type":"grid","center_x":200.0,"center_y":150.0,"center_z":10.0,"radius":50.0,"target_class":"balloon","description":"红色"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"balloon","description":"红色"}}, // 确认高优先级目标
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{"type":"action","name":"track_object","params":{"target_class":"balloon","description":"红色","track_time":30.0}},
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{"type":"action","name":"strike_target","params":{"target_class":"balloon","description":"红色"}},
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{"type":"action","name":"land","params":{"mode":"home"}}
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]
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},
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{"type":"action","name":"preflight_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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{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"目标描述"}},
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{"type":"action","name":"object_detect","params":{"target_class":"person","description":"目标描述"}},
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// -------------------------------
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{"type":"action","name":"land","params":{"mode":"home"}}
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]
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}
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}
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```
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## 四、场景示例（请灵活参考）
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#### 场景 1：线性搜索任务（Sequence + Selector）
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**指令**：“去研究所正大门，搜索扎辫子女子并拍照。”
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**结构**：Sequence (按顺序执行)
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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": "MainSearchTask",
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"children": [
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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}},
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{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
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{
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"type": "Selector",
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"name": "SafetyMonitor",
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"params": {"memory": true},
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"name": "CheckAndPhoto",
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"children": [
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{"type":"condition","name":"battery_above","params":{"threshold":0.3}},
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{"type":"condition","name":"gps_status","params":{"min_satellites":8}},
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{
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"type":"Sequence",
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"name":"EmergencyHandler",
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"params": {},
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"type": "Sequence",
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"name": "PhotoIfFound",
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"children": [
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{"type":"action","name":"emergency_return","params":{"reason":"safety_breach"}},
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{"type":"action","name":"land","params":{"mode":"home"}}
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{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
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{"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
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]
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}
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},
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{"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
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]
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},
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{"type":"action","name":"land","params":{"mode":"home"}}
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]
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}
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}
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```
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#### 场景 2：带中断逻辑的巡逻（Selector 示例）
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**指令**：“飞往航点A。如果途中发现可疑人员，则悬停。”
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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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"children": [
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{
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"type": "Selector",
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"name": "FlyOrDetect",
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"children": [
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{
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"type": "Sequence",
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"name": "InterruptionLogic",
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"children": [
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{"type":"action","name":"object_detect","params":{"target_class":"person"}},
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{"type":"action","name":"loiter","params":{"duration":5.0}}
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]
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},
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{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
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]
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}
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]
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@@ -96,22 +141,20 @@
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}
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```
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## 五、优先级排序任务通用示例
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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。
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| 用户指令场景 | `target_class` | `description` |
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|-----------------------------|-----------------|-------------------------|
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| 红气球＞蓝气球＞绿气球 | `balloon` | `（红＞蓝＞绿）` |
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| 军用卡车＞民用卡车＞面包车 | `truck` | `（军用卡车＞民用卡车＞面包车）` |
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## 四、优先级排序任务通用示例
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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。比如当指令为已知有三个气球，危险级关系为红色气球大于蓝色气球大于绿色气球，要求优先跟踪最危险的气球时，节点的描述参考下表情形。
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| 用户指令场景 | `target_class` | `description` | 核心节点示例（search_pattern） |
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|-----------------------------|-----------------|-------------------------|------------------------------------------------------------------------------------------------|
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| 红气球＞蓝气球＞绿气球 | `balloon` | `（红＞蓝＞绿）` | `{"type":"action","name":"search_pattern","params":{"pattern_type":"grid","center_x":200,"center_y":150,"center_z":10,"radius":50,"target_class":"balloon","description":"（红＞蓝＞绿）"}}` |
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| 军用卡车＞民用卡车＞面包车 | `truck` | `（军用卡车＞民用卡车＞面包车）` | `{"type":"action","name":"object_detect","params":{"target_class":"truck","description":"（军用卡车＞民用卡车＞面包车）"}}` |
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## 六、高频错误规避
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1. 优先级排序不可修改`target_class`，仅用`description`填排序规则；
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2. `track_object`必传`track_time`；
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3. `gps_status`的`min_satellites`必须在6-15之间；
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4. 严禁输出 markdown 代码块标记，直接输出 JSON 纯文本；
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5. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`；
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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
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## 五、高频错误规避（确保验证通过）
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1. 优先级排序不可修改`target_class`：如“民用卡车、面包车与军用卡车中，军用卡车优先”，`target_class`仍为`truck`，仅用`description`填排序规则；
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2. 在没有明确指出物体之间的优先级关系情况下，`description`字段只描述物体属性本身，严禁与用户指令中不存在的物体进行排序；
|
||||
3. `track_object`必传`track_time`：不可用`duration`替代（如跟踪30秒填`"track_time":30.0`）；
|
||||
4. `gps_status`的`min_satellites`必须在6-15之间（如8，不可缺省）；
|
||||
5. 无自定义节点：“锁定高优先级目标”需通过`object_detect`+`object_detected`实现，不可用“lock_high_risk_target”。
|
||||
|
||||
|
||||
## 六、输出要求
|
||||
仅输出1个严格符合上述所有规则的JSON对象，**确保：1. 优先级排序逻辑正确填入`description`；2. `target_class`匹配预定义列表；3. 行为树结构不变；4. 后端解析与Schema验证无错误**，无任何冗余内容。
|
||||
## 七、输出要求
|
||||
仅输出1个严格符合上述所有规则的JSON对象。
|
||||
|
||||
@@ -52,7 +52,7 @@ def _parse_allowed_nodes_from_prompt(prompt_text: str) -> tuple[Set[str], Set[st
|
||||
"""
|
||||
try:
|
||||
# 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*```"
|
||||
node_section_pattern = r"#### 1\. 可用节点定义.*?```json\s*({.*?})\s*```"
|
||||
match = re.search(node_section_pattern, prompt_text, re.DOTALL | re.IGNORECASE)
|
||||
|
||||
if not match:
|
||||
@@ -144,51 +144,12 @@ def _fallback_parse_nodes(prompt_text: str) -> tuple[Set[str], Set[str]]:
|
||||
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 _find_nodes_by_name(node: Dict, target_name: str) -> List[Dict]:
|
||||
"""递归查找所有指定名称的节点"""
|
||||
nodes_found = []
|
||||
|
||||
if node.get("name") == target_name:
|
||||
nodes_found.append(node)
|
||||
|
||||
# 递归搜索子节点
|
||||
for child in node.get("children", []):
|
||||
nodes_found.extend(_find_nodes_by_name(child, target_name))
|
||||
|
||||
return nodes_found
|
||||
|
||||
def _validate_safety_monitoring(pytree_instance: dict) -> bool:
|
||||
"""验证行为树是否包含必要的安全监控"""
|
||||
root_node = pytree_instance.get("root", {})
|
||||
|
||||
# 查找所有电池监控节点
|
||||
battery_nodes = _find_nodes_by_name(root_node, "battery_above")
|
||||
|
||||
# 检查是否包含安全监控结构
|
||||
safety_monitors = _find_nodes_by_name(root_node, "SafetyMonitor")
|
||||
|
||||
if not battery_nodes and not safety_monitors:
|
||||
logging.warning("⚠️ 安全警告: 行为树中没有发现电池监控节点或安全监控器")
|
||||
return False
|
||||
|
||||
# 检查电池阈值设置是否合理
|
||||
for battery_node in battery_nodes:
|
||||
threshold = battery_node.get("params", {}).get("threshold")
|
||||
if threshold is not None:
|
||||
if threshold < 0.25:
|
||||
logging.warning(f"⚠️ 安全警告: 电池阈值设置过低 ({threshold})，建议不低于0.25")
|
||||
elif threshold > 0.5:
|
||||
logging.warning(f"⚠️ 安全警告: 电池阈值设置过高 ({threshold})，可能影响任务执行")
|
||||
|
||||
logging.info("✅ 安全监控验证通过")
|
||||
return True
|
||||
|
||||
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"]
|
||||
node_types = ["action", "condition", "Sequence", "Selector", "Parallel", "decorator"]
|
||||
|
||||
# 目标检测相关的类别枚举
|
||||
target_classes = [
|
||||
@@ -201,38 +162,44 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
|
||||
"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","balloon"
|
||||
"clock", "vase", "scissors", "teddy_bear", "hair_drier", "toothbrush","balloon","trash","window"
|
||||
]
|
||||
|
||||
# 递归节点定义
|
||||
node_definition = {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"type": {"type": "string", "enum": node_types},
|
||||
# 修改：手动构造不区分大小写的正则，避免使用不支持的 (?i) 标志
|
||||
# 匹配: action, condition, sequence, selector, parallel, decorator (忽略大小写)
|
||||
"type": {
|
||||
"type": "string",
|
||||
"pattern": "^([Aa][Cc][Tt][Ii][Oo][Nn]|[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]|[Ss][Ee][Qq][Uu][Ee][Nn][Cc][Ee]|[Ss][Ee][Ll][Ee][Cc][Tt][Oo][Rr]|[Pp][Aa][Rr][Aa][Ll][Ll][Ee][Ll]|[Dd][Ee][Cc][Oo][Rr][Aa][Tt][Oo][Rr])$"
|
||||
},
|
||||
"name": {"type": "string"},
|
||||
"params": {"type": "object"},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {"$ref": "#/definitions/node"}
|
||||
}
|
||||
},
|
||||
"child": {"$ref": "#/definitions/node"}
|
||||
},
|
||||
"required": ["type", "name"],
|
||||
"allOf": [
|
||||
# 动作节点验证
|
||||
# 动作节点验证 (忽略大小写)
|
||||
{
|
||||
"if": {"properties": {"type": {"const": "action"}}},
|
||||
"if": {"properties": {"type": {"pattern": "^[Aa][Cc][Tt][Ii][Oo][Nn]$"}}},
|
||||
"then": {"properties": {"name": {"enum": sorted(list(allowed_actions))}}}
|
||||
},
|
||||
# 条件节点验证
|
||||
# 条件节点验证 (忽略大小写)
|
||||
{
|
||||
"if": {"properties": {"type": {"const": "condition"}}},
|
||||
"if": {"properties": {"type": {"pattern": "^[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]$"}}},
|
||||
"then": {"properties": {"name": {"enum": sorted(list(allowed_conditions))}}}
|
||||
},
|
||||
# 目标检测动作节点的参数验证
|
||||
# 目标检测动作节点的参数验证 (忽略大小写)
|
||||
{
|
||||
"if": {
|
||||
"properties": {
|
||||
"type": {"const": "action"},
|
||||
"type": {"pattern": "^[Aa][Cc][Tt][Ii][Oo][Nn]$"},
|
||||
"name": {"const": "object_detect"}
|
||||
}
|
||||
},
|
||||
@@ -251,11 +218,11 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
|
||||
}
|
||||
}
|
||||
},
|
||||
# 目标检测条件节点的参数验证
|
||||
# 目标检测条件节点的参数验证 (忽略大小写)
|
||||
{
|
||||
"if": {
|
||||
"properties": {
|
||||
"type": {"const": "condition"},
|
||||
"type": {"pattern": "^[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]$"},
|
||||
"name": {"const": "object_detected"}
|
||||
}
|
||||
},
|
||||
@@ -274,11 +241,11 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
|
||||
}
|
||||
}
|
||||
},
|
||||
# 电池监控节点的参数验证
|
||||
# 电池监控节点的参数验证 (忽略大小写)
|
||||
{
|
||||
"if": {
|
||||
"properties": {
|
||||
"type": {"const": "condition"},
|
||||
"type": {"pattern": "^[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]$"},
|
||||
"name": {"const": "battery_above"}
|
||||
}
|
||||
},
|
||||
@@ -295,11 +262,11 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
|
||||
}
|
||||
}
|
||||
},
|
||||
# GPS状态节点的参数验证
|
||||
# GPS状态节点的参数验证 (忽略大小写)
|
||||
{
|
||||
"if": {
|
||||
"properties": {
|
||||
"type": {"const": "condition"},
|
||||
"type": {"pattern": "^[Cc][Oo][Nn][Dd][Ii][Tt][Ii][Oo][Nn]$"},
|
||||
"name": {"const": "gps_status"}
|
||||
}
|
||||
},
|
||||
@@ -372,10 +339,7 @@ def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
|
||||
jsonschema.validate(instance=pytree_instance, schema=schema)
|
||||
logging.info("✅ JSON Schema验证成功")
|
||||
|
||||
# 额外验证安全监控
|
||||
safety_valid = _validate_safety_monitoring(pytree_instance)
|
||||
|
||||
return True and safety_valid
|
||||
return True
|
||||
except jsonschema.ValidationError as e:
|
||||
logging.warning("❌ Pytree验证失败")
|
||||
logging.warning(f"错误信息: {e.message}")
|
||||
@@ -503,6 +467,10 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
|
||||
shape = 'ellipse'
|
||||
style = 'filled'
|
||||
fillcolor = '#e1d5e7' # 紫色
|
||||
elif node_type == 'decorator':
|
||||
shape = 'doubleoctagon'
|
||||
style = 'filled'
|
||||
fillcolor = '#f8cecc' # 浅红
|
||||
|
||||
# 特别标记安全相关节点
|
||||
if node.get('name') in ['battery_above', 'gps_status', 'SafetyMonitor']:
|
||||
@@ -515,28 +483,28 @@ def _add_nodes_and_edges(node: dict, dot, parent_id: str | None = None) -> str:
|
||||
if parent_id:
|
||||
dot.edge(parent_id, current_id)
|
||||
|
||||
# 递归处理子节点
|
||||
# 递归处理子节点 (Sequence, Selector, Parallel 等)
|
||||
children = node.get("children", [])
|
||||
if not children:
|
||||
return current_id
|
||||
|
||||
# 记录所有子节点的ID
|
||||
child_ids = []
|
||||
|
||||
# 正确的递归连接：每个子节点都连接到当前节点
|
||||
for child in children:
|
||||
child_id = _add_nodes_and_edges(child, dot, current_id)
|
||||
child_ids.append(child_id)
|
||||
|
||||
# 子节点同级排列（横向排布，更直观地表现同层）
|
||||
if len(child_ids) > 1:
|
||||
with dot.subgraph(name=f"rank_{current_id}") as s:
|
||||
s.attr(rank='same')
|
||||
for cid in child_ids:
|
||||
s.node(cid)
|
||||
|
||||
# 行为树中，所有类型的节点都只是父连子，不需要子节点间的额外连接
|
||||
# Sequence、Selector、Parallel 的执行逻辑由行为树引擎处理，不需要在可视化中体现
|
||||
if children:
|
||||
# 记录所有子节点的ID
|
||||
child_ids = []
|
||||
|
||||
# 正确的递归连接：每个子节点都连接到当前节点
|
||||
for child in children:
|
||||
child_id = _add_nodes_and_edges(child, dot, current_id)
|
||||
child_ids.append(child_id)
|
||||
|
||||
# 子节点同级排列（横向排布，更直观地表现同层）
|
||||
if len(child_ids) > 1:
|
||||
with dot.subgraph(name=f"rank_{current_id}") as s:
|
||||
s.attr(rank='same')
|
||||
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)
|
||||
|
||||
return current_id
|
||||
|
||||
@@ -588,7 +556,7 @@ class PyTreeGenerator:
|
||||
self.complex_llm_client = openai.OpenAI(api_key=self.api_key, base_url=self.complex_base_url)
|
||||
|
||||
# --- ChromaDB Client Setup ---
|
||||
vector_store_path = os.path.abspath(os.path.join(self.base_dir, '..', '..', 'tools', 'vector_store'))
|
||||
vector_store_path = os.path.abspath(os.path.join(self.base_dir, '..', '..', 'tools', 'rag','vector_store'))
|
||||
self.chroma_client = chromadb.PersistentClient(path=vector_store_path)
|
||||
|
||||
# Explicitly use the remote embedding function for queries
|
||||
@@ -725,7 +693,7 @@ class PyTreeGenerator:
|
||||
pytree_str = combined_text if combined_text else (msg_content or "")
|
||||
raw_full_text_for_logging = pytree_str # 保存完整原文（含 <think>）以便失败时完整打印
|
||||
|
||||
# 提取 <think> 推理链内容（若存在）
|
||||
# 提取 <think> 推理链内容（若有）
|
||||
reasoning_text = None
|
||||
try:
|
||||
think_match = re.search(r"<think>([\s\S]*?)</think>", pytree_str)
|
||||
@@ -827,49 +795,7 @@ class PyTreeGenerator:
|
||||
pytree_dict['final_prompt'] = final_prompt
|
||||
return pytree_dict
|
||||
|
||||
# 复杂模式回退：若模型误返回简单结构（root是单个action），则自动包装为含安全监控的行为树
|
||||
if mode == "complex" and isinstance(pytree_dict, dict) and 'root' in pytree_dict:
|
||||
root_node = pytree_dict.get('root', {})
|
||||
# 检查是否是简单结构（root是单个action节点，没有children）
|
||||
if (root_node.get('type') == 'action' and
|
||||
('children' not in root_node or not root_node.get('children'))):
|
||||
try:
|
||||
jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
|
||||
logging.warning("⚠️ 复杂模式生成了简单结构（单个action），触发自动包装为完整行为树的回退逻辑。")
|
||||
action_name = root_node.get('name')
|
||||
action_params = root_node.get('params') if isinstance(root_node.get('params'), dict) else {}
|
||||
|
||||
safety_selector = {
|
||||
"type": "Selector",
|
||||
"name": "SafetyMonitor",
|
||||
"params": {"memory": True},
|
||||
"children": [
|
||||
{"type": "condition", "name": "battery_above", "params": {"threshold": 0.3}},
|
||||
{"type": "condition", "name": "gps_status", "params": {"min_satellites": 8}},
|
||||
{"type": "Sequence", "name": "EmergencyHandler", "children": [
|
||||
{"type": "action", "name": "emergency_return", "params": {"reason": "safety_breach"}},
|
||||
{"type": "action", "name": "land", "params": {"mode": "home"}}
|
||||
]}
|
||||
]
|
||||
}
|
||||
|
||||
main_children = [{"type": "action", "name": action_name, "params": action_params}]
|
||||
if action_name != "land":
|
||||
main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
|
||||
|
||||
root_parallel = {
|
||||
"type": "Parallel",
|
||||
"name": "MissionWithSafety",
|
||||
"params": {"policy": "all_success"},
|
||||
"children": [
|
||||
{"type": "Sequence", "name": "MainTask", "children": main_children},
|
||||
safety_selector
|
||||
]
|
||||
}
|
||||
pytree_dict = {"root": root_parallel}
|
||||
except jsonschema.ValidationError:
|
||||
# 不符合简单结构，按正常复杂验证继续
|
||||
pass
|
||||
# 验证生成的复杂行为树
|
||||
if _validate_pytree_with_schema(pytree_dict, self.schema):
|
||||
logging.info("✅ 成功生成并验证了Pytree")
|
||||
plan_id = str(uuid.uuid4())
|
||||
|
||||
Reference in New Issue
Block a user