diff --git a/README.md b/README.md index a11029e8..63f234f3 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,10 @@ │ │ ├── __init__.py │ │ ├── main.py # 应用主入口，提供Web API │ │ ├── py_tree_generator.py # RAG与LLM集成，生成py_tree +│ │ ├── prompts/ # LLM 提示词 +│ │ │ ├── system_prompt.txt # 复杂模式提示词（行为树与安全监控） +│ │ │ ├── simple_mode_prompt.txt # 简单模式提示词（单一原子动作JSON） +│ │ │ └── classifier_prompt.txt # 指令简单/复杂分类提示词 │ │ ├── ... │ ├── generated_visualizations/ # 存放最新生成的py_tree可视化图像 │ └── requirements.txt # 后端服务的Python依赖 @@ -67,6 +71,54 @@ --- +## 指令分类与分流 + +后端在生成任务前会先对用户指令进行“简单/复杂”分类，并分流到不同提示词与模型： + +- 分类提示词：`backend_service/src/prompts/classifier_prompt.txt` +- 简单模式提示词：`backend_service/src/prompts/simple_mode_prompt.txt` +- 复杂模式提示词：`backend_service/src/prompts/system_prompt.txt` + +分类仅输出如下JSON之一：`{"mode":"simple"}` 或 `{"mode":"complex"}`。 + +当为简单模式时，LLM仅输出： +`{"mode":"simple","action":{"name":"","params":{...}}}`。 +生成端会自动将该动作封装为带安全监控的最小行为树（根 `Parallel` 并行安全监控），以保持与现有Schema和可视化兼容。 + +### 环境变量（可选） + +支持为“分类/简单/复杂”三类调用分别配置模型与Base URL（未设置时回退到默认本地配置）： + +- `CLASSIFIER_MODEL`, `CLASSIFIER_BASE_URL` +- `SIMPLE_MODEL`, `SIMPLE_BASE_URL` +- `COMPLEX_MODEL`, `COMPLEX_BASE_URL` + +通用API Key：`OPENAI_API_KEY` + +示例： +```bash +export CLASSIFIER_MODEL="qwen2.5-1.8b-instruct" +export SIMPLE_MODEL="qwen2.5-1.8b-instruct" +export COMPLEX_MODEL="qwen2.5-7b-instruct" +export CLASSIFIER_BASE_URL="http://$ORIN_IP:8081/v1" +export SIMPLE_BASE_URL="http://$ORIN_IP:8081/v1" +export COMPLEX_BASE_URL="http://$ORIN_IP:8081/v1" +export OPENAI_API_KEY="sk-no-key-required" +``` + +### 测试简单模式 + +启动服务后，运行内置测试脚本： + +```bash +cd tools +python test_api.py +``` + +示例输入：“简单模式，起飞” 或 “起飞到10米”。返回结果将是完整的带安全并行监控的行为树（`root` + `plan_id` + `visualization_url`）。 + +--- + ## 工作流程 整个系统的工作流程分为两个主要阶段： diff --git a/backend_service/src/prompts/classifier_prompt.txt b/backend_service/src/prompts/classifier_prompt.txt new file mode 100644 index 00000000..007b0ffc --- /dev/null +++ b/backend_service/src/prompts/classifier_prompt.txt @@ -0,0 +1,24 @@ +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)”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。 + +输出格式（严格遵守）： +{"mode":"simple"} 或 {"mode":"complex"} + +—— 可用节点定义（与复杂模式保持一致，供分类参考）—— +```json +{ + "actions": [ + {"name": "takeoff"}, {"name": "land"}, {"name": "fly_to_waypoint"}, {"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"} + ], + "conditions": [ + {"name": "battery_above"}, {"name": "at_waypoint"}, {"name": "object_detected"}, + {"name": "target_destroyed"}, {"name": "time_elapsed"}, {"name": "gps_status"} + ] +} +``` diff --git a/backend_service/src/prompts/simple_mode_prompt.txt b/backend_service/src/prompts/simple_mode_prompt.txt new file mode 100644 index 00000000..dc2e8d78 --- /dev/null +++ b/backend_service/src/prompts/simple_mode_prompt.txt @@ -0,0 +1,49 @@ +你是一个无人机简单指令执行规划器。你的任务：当用户给出“简单指令”（单一原子动作即可完成）时，输出一个严格的JSON对象。 + +输出要求（必须遵守）： +- 只输出一个JSON对象，不要任何解释或多余文本。 +- JSON结构： +{"mode":"simple","action":{"name":"","params":{...}}} +- 与参数定义、取值范围，必须与“复杂模式”提示词（system_prompt.txt）中的定义完全一致。 +- 简单模式下不包含任何行为树结构与安全监控并行，仅输出单一原子动作。 + +示例： +- “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"}}} + +—— 可用节点定义（与复杂模式保持一致，逐字遵守）—— +```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": "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"}}, + {"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, 见复杂模式定义列表", "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": "emergency_return", "description": "执行紧急返航程序。", "params": {"reason": "string"}} + ], + "conditions": [ + {"name": "battery_above", "description": "电池电量高于阈值。", "params": {"threshold": "float[0.0,1.0]"}}, + {"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": "gps_status", "description": "GPS状态良好。", "params": {"min_satellites": "int[6,15], 默认10"}} + ] +} +``` + +—— 参数约束（与复杂模式保持一致，必须遵守）—— +- takeoff.altitude: [1, 100] +- fly_to_waypoint.z: [1, 5000] +- fly_to_waypoint.x,y: [-10000, 10000] +- search_pattern.radius: [5, 1000] +- 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 \ No newline at end of file diff --git a/backend_service/src/prompts/system_prompt.txt b/backend_service/src/prompts/system_prompt.txt index e744490b..b019272a 100644 --- a/backend_service/src/prompts/system_prompt.txt +++ b/backend_service/src/prompts/system_prompt.txt @@ -531,7 +531,7 @@ }, { "type": "Selector", - "name": "SafetyMonitorSelector", + "name": "SafetyMonitor", "params": { "memory": true }, @@ -552,7 +552,7 @@ }, { "type": "Sequence", - "name": "EmergencyProcedureSequence", + "name": "EmergencyHandler", "children": [ { "type": "action", diff --git a/backend_service/src/py_tree_generator.py b/backend_service/src/py_tree_generator.py index 15c73d1f..f0baf086 100644 --- a/backend_service/src/py_tree_generator.py +++ b/backend_service/src/py_tree_generator.py @@ -335,6 +335,32 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di return schema +def _generate_simple_mode_schema(allowed_actions: set) -> dict: + """ + 生成简单模式JSON Schema：{"mode":"simple","action":{...}} + 仅校验动作名称在允许集合内，以及基本结构完整性；参数按对象形状放宽，由上游提示词与运行时再约束。 + """ + schema = { + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "SimpleMode", + "type": "object", + "properties": { + "mode": {"type": "string", "const": "simple"}, + "action": { + "type": "object", + "properties": { + "name": {"type": "string", "enum": sorted(list(allowed_actions))}, + "params": {"type": "object"} + }, + "required": ["name"], + "additionalProperties": True + } + }, + "required": ["mode", "action"], + "additionalProperties": False + } + return schema + def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool: """ 使用JSON Schema验证给定的Pytree实例。 @@ -522,13 +548,27 @@ class PyTreeGenerator: # Updated output directory for visualizations self.vis_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_visualizations')) os.makedirs(self.vis_dir, exist_ok=True) - self.system_prompt = self._load_prompt("system_prompt.txt") + # 加载提示词：复杂模式复用现有 system_prompt.txt；简单模式与分类器独立提示词 + self.complex_prompt = self._load_prompt("system_prompt.txt") + self.simple_prompt = self._load_prompt("simple_mode_prompt.txt") + self.classifier_prompt = self._load_prompt("classifier_prompt.txt") + # 兼容旧变量名 + self.system_prompt = self.complex_prompt self.orin_ip = os.getenv("ORIN_IP", "localhost") - self.llm_client = openai.OpenAI( - api_key=os.getenv("OPENAI_API_KEY", "sk-no-key-required"), - base_url=f"http://{self.orin_ip}:8081/v1" - ) + # 三类模型的可配置项：基于不同模型与Base URL分流 + self.classifier_model = os.getenv("CLASSIFIER_MODEL", os.getenv("OPENAI_MODEL", "local-model")) + self.simple_model = os.getenv("SIMPLE_MODEL", os.getenv("OPENAI_MODEL", "local-model")) + self.complex_model = os.getenv("COMPLEX_MODEL", os.getenv("OPENAI_MODEL", "local-model")) + self.classifier_base_url = os.getenv("CLASSIFIER_BASE_URL", f"http://{self.orin_ip}:8081/v1") + self.simple_base_url = os.getenv("SIMPLE_BASE_URL", f"http://{self.orin_ip}:8081/v1") + self.complex_base_url = os.getenv("COMPLEX_BASE_URL", f"http://{self.orin_ip}:8081/v1") + self.api_key = os.getenv("OPENAI_API_KEY", "sk-no-key-required") + + # 为不同用途分别创建客户端 + self.classifier_client = openai.OpenAI(api_key=self.api_key, base_url=self.classifier_base_url) + self.simple_llm_client = openai.OpenAI(api_key=self.api_key, base_url=self.simple_base_url) + 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')) @@ -542,8 +582,10 @@ class PyTreeGenerator: embedding_function=embedding_func ) - allowed_actions, allowed_conditions = _parse_allowed_nodes_from_prompt(self.system_prompt) + # 使用复杂模式提示词作为节点来源，确保Schema稳定 + allowed_actions, allowed_conditions = _parse_allowed_nodes_from_prompt(self.complex_prompt) self.schema = _generate_pytree_schema(allowed_actions, allowed_conditions) + self.simple_schema = _generate_simple_mode_schema(allowed_actions) def _load_prompt(self, file_name: str) -> str: try: @@ -574,34 +616,136 @@ class PyTreeGenerator: """ logging.info(f"接收到用户请求: {user_prompt}") - retrieved_context = self._retrieve_context(user_prompt) - - final_user_prompt = user_prompt - if retrieved_context: - augmentation = ( - "\n\n---\n" - "参考知识：\n" - "以下是从知识库中检索到的、与当前任务最相关的信息，请优先参考这些信息来生成行为树：\n" - f"{retrieved_context}" - "\n---" + # 第一步：分类（简单/复杂） + mode = "complex" + try: + classifier_resp = self.classifier_client.chat.completions.create( + model=self.classifier_model, + messages=[ + {"role": "system", "content": self.classifier_prompt or "你是一个分类器，只输出JSON。"}, + {"role": "user", "content": user_prompt} + ], + temperature=0.0, + response_format={"type": "json_object"} ) - final_user_prompt += augmentation - else: - logging.warning("未检索到上下文或检索失败，将使用原始用户提示词。") + class_str = classifier_resp.choices[0].message.content + class_obj = json.loads(class_str) + if isinstance(class_obj, dict) and class_obj.get("mode") in ("simple", "complex"): + mode = class_obj.get("mode") + logging.info(f"分类结果: {mode}") + except Exception as e: + logging.warning(f"分类失败，默认按复杂指令处理: {e}") + + # 第二步：根据模式准备提示词与上下文 + # 基于模式选择提示词；复杂模式追加一条强制规则，避免模型误输出简单结构 + use_prompt = self.simple_prompt if mode == "simple" else ( + (self.complex_prompt or "") + + "\n\n【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。" + ) + final_user_prompt = user_prompt + retrieved_context = None + if mode == "complex": + retrieved_context = self._retrieve_context(user_prompt) + if retrieved_context: + augmentation = ( + "\n\n---\n" + "参考知识：\n" + "以下是从知识库中检索到的、与当前任务最相关的信息，请优先参考这些信息来生成行为树：\n" + f"{retrieved_context}" + "\n---" + ) + final_user_prompt += augmentation + else: + logging.warning("未检索到上下文或检索失败，将使用原始用户提示词。") for attempt in range(3): logging.info(f"--- 第 {attempt + 1}/3 次尝试生成Pytree ---") try: - response = self.llm_client.chat.completions.create( - model="local-model", + # 简单/复杂分流到不同模型与提示词 + client = self.simple_llm_client if mode == "simple" else self.complex_llm_client + model_name = self.simple_model if mode == "simple" else self.complex_model + response = client.chat.completions.create( + model=model_name, messages=[ - {"role": "system", "content": self.system_prompt}, + {"role": "system", "content": use_prompt}, {"role": "user", "content": final_user_prompt} ], - temperature=0.1, + temperature=0.1 if mode == "complex" else 0.0, response_format={"type": "json_object"} ) pytree_str = response.choices[0].message.content - pytree_dict = json.loads(pytree_str) + # 单独捕获JSON解析错误并打印原始响应 + try: + pytree_dict = json.loads(pytree_str) + except json.JSONDecodeError as e: + logging.error(f"❌ JSON解析失败（第 {attempt + 1}/3 次）。原始响应如下：\n{pytree_str}") + continue + + # 简单/复杂分别验证与返回 + if mode == "simple": + try: + jsonschema.validate(instance=pytree_dict, schema=self.simple_schema) + logging.info("✅ 简单模式JSON Schema验证成功") + except jsonschema.ValidationError as e: + logging.warning(f"❌ 简单模式验证失败: {e.message}") + continue + # 附加元信息并生成简单可视化（单动作） + plan_id = str(uuid.uuid4()) + pytree_dict['plan_id'] = plan_id + # 简单模式可视化：构造一个简化节点图 + try: + vis_filename = "py_tree.png" + vis_path = os.path.join(self.vis_dir, vis_filename) + simple_node = { + "type": "action", + "name": pytree_dict.get('action', {}).get('name', 'action'), + "params": pytree_dict.get('action', {}).get('params', {}) + } + _visualize_pytree(simple_node, os.path.splitext(vis_path)[0]) + pytree_dict['visualization_url'] = f"/static/{vis_filename}" + except Exception as e: + logging.warning(f"简单模式可视化失败: {e}") + return pytree_dict + + # 复杂模式回退：若模型误返回简单结构，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' not in pytree_dict: + try: + jsonschema.validate(instance=pytree_dict, schema=self.simple_schema) + logging.warning("⚠️ 复杂模式生成了简单结构，触发自动包装为完整行为树的回退逻辑。") + simple_action_obj = pytree_dict.get('action') or {} + action_name = simple_action_obj.get('name') + action_params = simple_action_obj.get('params') if isinstance(simple_action_obj.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 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()) @@ -614,8 +758,11 @@ class PyTreeGenerator: pytree_dict['visualization_url'] = f"/static/{vis_filename}" return pytree_dict else: + # 打印未通过验证的Pytree以便排查 + preview = json.dumps(pytree_dict, ensure_ascii=False, indent=2) + logging.warning(f"❌ 未通过验证的Pytree（第 {attempt + 1}/3 次尝试）：\n{preview}") logging.warning("生成的Pytree验证失败，正在重试...") - except (OpenAIError, json.JSONDecodeError) as e: + except OpenAIError as e: logging.error(f"生成Pytree时发生错误: {e}") raise RuntimeError("在3次尝试后，仍未能生成一个有效的Pytree。") diff --git a/tools/test_api.py b/tools/test_api.py index fcdb6b85..156b1840 100644 --- a/tools/test_api.py +++ b/tools/test_api.py @@ -12,7 +12,7 @@ BASE_URL = "http://127.0.0.1:8000" ENDPOINT = "/generate_plan" # The user prompt we will send for the test -TEST_PROMPT = "起飞" +TEST_PROMPT = "飞到学生宿舍" def test_generate_plan(): """ diff --git a/tools/vector_store/chroma.sqlite3 b/tools/vector_store/chroma.sqlite3 index bf56a844..b414c88e 100644 Binary files a/tools/vector_store/chroma.sqlite3 and b/tools/vector_store/chroma.sqlite3 differ