优化提示词

backend_service/src/prompts/classifier_prompt.txt

@@ -3,7 +3,6 @@
 
 - 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)”等），且无需行为树与安全并行监控。
 - 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与安全并行监控。
-  - 注：口令“环绕X米Y圈（以坐标或已获目标为中心）”若不涉及前置搜索/检测，一般判为简单；若需先“搜索/检测/跟踪后再环绕”，判为复杂。
 
 输出格式（严格遵守）：
 {"mode":"simple"} 或 {"mode":"complex"}
@@ -12,7 +11,7 @@
 ```json
 {
   "actions": [
-    {"name": "takeoff"}, {"name": "land"}, {"name": "fly_to_waypoint"}, {"name": "orbit_around_point"}, {"name": "orbit_around_target"}, {"name": "move_direction"}, {"name": "loiter"},
+    {"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": "emergency_return"}

backend_service/src/prompts/simple_mode_prompt.txt

@@ -11,19 +11,6 @@
 - “起飞到10米” → {"mode":"simple","action":{"name":"takeoff","params":{"altitude":10.0}}}
 - “移动到(120,80,20)” → {"mode":"simple","action":{"name":"fly_to_waypoint","params":{"x":120.0,"y":80.0,"z":20.0,"acceptance_radius":2.0}}}
 - “飞机自检” → {"mode":"simple","action":{"name":"preflight_checks","params":{"check_level":"comprehensive"}}}
- - “环绕三十两圈（以目标为中心）” → {"mode":"simple","action":{"name":"orbit_around_target","params":{"target_class":"person","radius":30.0,"laps":2,"clockwise":true,"gimbal_lock":true}}}
- - “以(120,80,20)为中心半径30米环绕两圈” → {"mode":"simple","action":{"name":"orbit_around_point","params":{"center_x":120.0,"center_y":80.0,"center_z":20.0,"radius":30.0,"laps":2,"gimbal_lock":true}}}
-
-—— 环绕口令语义说明——
-- “环绕X米Y圈”：以指定中心（坐标或目标）为圆心，半径 X 米，等速飞行 Y 圈；默认顺时针(`clockwise:true`)，默认云台持续指向中心(`gimbal_lock:true`)。
-- 中心选择：
-  - 明确给出坐标 → 使用 `orbit_around_point`（`center_x/center_y/center_z` 来自口令或参考知识）。
-  - 明确“以目标为中心/围绕某类目标” → 使用 `orbit_around_target`（需要已获目标；若缺少目标实例，复杂模式应先检测/确认）。
-  - 未明确中心但上下文存在当前锁定目标 → 视为以该目标为中心。
-- 方向与速度：
-  - “顺时针/逆时针” → `clockwise: true/false`；未指明默认 `true`。
-  - “等速/速度V米每秒” → 指明则设置 `speed_mps: V`（范围 [0.5,15]）；未指明可省略。
-- 数字解析：中文数字与阿拉伯数字均可，需规范化为数值，例如“三十两圈” → `radius: 30.0`、`laps: 2`。
 
 —— 可用节点定义——
 ```json
@@ -32,9 +19,9 @@
     {"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": "orbit_around_point", "description": "围绕给定中心点等速环绕飞行，可指定圈数与方向。", "params": {"center_x": "float", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 默认true"}},
-    {"name": "orbit_around_target", "description": "围绕已获目标等速环绕飞行，可指定圈数与方向。", "params": {"target_class": "string", "description": "string, 可选", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 默认true"}},
     {"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"}},
+    {"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, 见复杂模式定义列表", "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。", "params": {"target_class": "string, 见复杂模式定义列表", "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"}},
@@ -62,9 +49,15 @@
 - fly_to_waypoint.x,y: [-10000, 10000]
 - search_pattern.radius: [5, 1000]
 - move_direction.distance: [1, 10000]
-// 环绕动作
-- orbit_around_point.radius / orbit_around_target.radius: [5, 1000]
-- orbit_around_point.laps / orbit_around_target.laps: [1, 20]
-- orbit_around_point.speed_mps / orbit_around_target.speed_mps: [0.5, 15]
+- 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]
 - 电池阈值等同复杂模式（如需涉及）
-- 若参考知识提供坐标，必须使用并裁剪到约束范围内
+- 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`

backend_service/src/prompts/system_prompt.txt

@@ -48,29 +48,29 @@
     },
     {
       "name": "orbit_around_point",
-      "description": "围绕给定中心点等速环绕飞行，可指定圈数与方向。",
+      "description": "以给定中心点为中心，等速圆周飞行指定圈数。",
       "params": {
         "center_x": "float, 中心点X坐标(米)",
         "center_y": "float, 中心点Y坐标(米)",
         "center_z": "float, 中心点Z坐标(米)",
-        "radius": "float, 轨道半径(米)[5,1000]",
-        "laps": "int, 环绕圈数[1,20]",
-        "clockwise": "boolean, 是否顺时针，默认true",
-        "speed_mps": "float, 可选，环绕线速度(米/秒)[0.5,15]",
-        "gimbal_lock": "boolean, 云台持续指向中心，默认true"
+        "radius": "float, 半径(米)[5,1000]",
+        "laps": "int, 圈数[1,20]",
+        "clockwise": "boolean, 可选，顺时针为true，默认true",
+        "speed_mps": "float, 可选，线速度(米/秒)[0.5,15]",
+        "gimbal_lock": "boolean, 可选，云台持续指向中心，默认true"
       }
     },
     {
       "name": "orbit_around_target",
-      "description": "围绕已获目标等速环绕飞行，可指定圈数与方向。",
+      "description": "以目标为中心，等速圆周飞行指定圈数。需要已确认目标。",
       "params": {
-        "target_class": "string, 目标类别",
+        "target_class": "string, 目标类别，取值同object_detect列表",
         "description": "string, 可选，目标属性描述",
-        "radius": "float, 轨道半径(米)[5,1000]",
-        "laps": "int, 环绕圈数[1,20]",
-        "clockwise": "boolean, 是否顺时针，默认true",
-        "speed_mps": "float, 可选，环绕线速度(米/秒)[0.5,15]",
-        "gimbal_lock": "boolean, 云台持续指向目标，默认true"
+        "radius": "float, 半径(米)[5,1000]",
+        "laps": "int, 圈数[1,20]",
+        "clockwise": "boolean, 可选，顺时针为true，默认true",
+        "speed_mps": "float, 可选，线速度(米/秒)[0.5,15]",
+        "gimbal_lock": "boolean, 可选，云台持续指向目标，默认true"
       }
     },
     {
@@ -359,10 +359,9 @@
 - `x`, `y` (fly_to_waypoint): [-10000, 10000]
 - `radius` (search_pattern): [5, 1000]
 - `distance` (move_direction): [1, 10000]
-// 环绕动作
-- `radius` (orbit_*): [5, 1000]
-- `laps` (orbit_*): [1, 20]
-- `speed_mps` (orbit_*): [0.5, 15]
+- `radius` (orbit_around_point/orbit_around_target): [5, 1000]
+- `laps` (orbit_around_point/orbit_around_target): [1, 20]
+- `speed_mps` (orbit_around_point/orbit_around_target): [0.5, 15]
 - 电池阈值: [0.0, 1.0]
 - 等等其他参数范围。
 
@@ -746,53 +745,17 @@
 }
 ```
 
-#### 9.5 环绕任务范式
-所有任务必须包含安全监控。使用以下范式作为模板：
-```json
-{
-  "root": {
-    "type": "Parallel",
-    "name": "OrbitMission",
-    "params": {"policy": "all_success"},
-    "children": [
-      {
-        "type": "Sequence",
-        "name": "MainOrbitTask",
-        "children": [
-          {"type": "action", "name": "preflight_checks", "params": {"check_level": "comprehensive"}},
-          {"type": "action", "name": "takeoff", "params": {"altitude": 15.0}},
-          {"type": "action", "name": "orbit_around_point", "params": {"center_x": 120.0, "center_y": 80.0, "center_z": 20.0, "radius": 30.0, "laps": 2, "clockwise": true, "gimbal_lock": true}},
-          {"type": "action", "name": "land", "params": {"mode": "home"}}
-        ]
-      },
-      {
-        "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {"memory": true},
-        "children": [
-          {"type": "condition", "name": "battery_above", "params": {"threshold": 0.35}},
-          {"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"}}
-          ]}
-        ]
-      }
-    ]
-  }
-}
-```
-
-#### 9.6 环绕口令语义说明
-- “环绕X米Y圈”：以中心（坐标或已获目标）为圆心，半径 X 米，等速环绕 Y 圈；默认 `clockwise:true`、`gimbal_lock:true`。
-- 中心选择：有坐标 → 使用 `orbit_around_point`；有目标 → 使用 `orbit_around_target`；若仅给类别且未获目标，需在复杂模式中先完成目标获取（检测/跟踪/确认）。
-- 方向与速度：若口令出现“顺时针/逆时针”，映射为 `clockwise:true/false`；给出速度“V米每秒”时设置 `speed_mps: V`（范围 [0.5,15]），否则可省略。
-- 数字解析：支持中文数字与阿拉伯数字，如“环绕三十两圈”→ `radius:30.0`、`laps:2`。
-
 #### 10. 如何使用参考知识
 当用户提供"参考知识"（如坐标信息）时，你必须使用这些信息填充参数。例如：
 - 如果参考知识说"目标坐标: (x: 120.5, y: 80.2, z: 60.0)"，则在使用`fly_to_waypoint`时设置这些值。
 - 确保坐标符合约束（如z≥1）。
 
+环绕口令到参数的映射规则（当口令涉及“环绕/绕圈”等）：
+- “环绕X米Y圈” → `radius=X`, `laps=Y`，默认 `clockwise=true`, `gimbal_lock=true`
+- 明确“顺时针/逆时针”时 → 设置 `clockwise=true/false`
+- 出现“等速”时 → 若未给速度则 `speed_mps` 使用默认值（如3.0）；若口令给出速度，裁剪到[0.5,15]
+- “以(中心坐标)为中心/当前位置为中心” → 使用 `orbit_around_point` 并填写 `center_x/center_y/center_z`
+- “以目标为中心/围绕目标” → 使用 `orbit_around_target`；若任务未提供目标来源，则需要在主任务中先行确认目标（通过检测/跟踪或参考知识）
+
 #### 11. 输出要求
 你的输出必须是严格的、单一的JSON对象，符合上述所有规则。不包含任何自然语言描述。