提示词分段编排解耦
This commit is contained in:
lulijing
@@ -1,60 +0,0 @@
|
||||
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。
|
||||
|
||||
判断简单/复杂任务一定要结合无人机状态，在地面还是在空中：
|
||||
1. 如果提及无人机在地面，则执行任何任务前都需要起飞，因此凡是起飞后还有其他动作的应当判定为复杂；
|
||||
2. 如果提及无人机在空中，则执行任务时如果是"无人机当前在空中，飞到某地"这一类任务应当判定为简单。
|
||||
|
||||
输出格式（严格遵守）：
|
||||
{"mode":"simple"} 或 {"mode":"complex"}
|
||||
|
||||
—— 可用节点定义——
|
||||
```json
|
||||
{
|
||||
"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":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","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","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。
|
||||
2. 到某地执行某动作，这样的任务应该是复杂。
|
||||
3. "无人机当前在空中，飞到广场"这样的任务，无人机只需要执行fly_to_waypoint即可，无需起飞，这样的任务是简单。
|
||||
4. "无人机当前在地面，飞到广场"这样的任务，无人机需要先起飞再飞到广场，这样的任务是复杂。
|
||||
41
backend_service/src/prompts/partials/common_rules.txt
Normal file
41
backend_service/src/prompts/partials/common_rules.txt
Normal file
@@ -0,0 +1,41 @@
|
||||
## 六、高频错误规避
|
||||
1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`
|
||||
2. **人工确认节点 (`manual_confirmation`) 使用原则**：
|
||||
- **必须添加**：仅当指令中明确包含“我确认”、“等待确认”、“经允许”、“我通过后”等人工介入关键词时，**必须**在相应动作前添加此节点。
|
||||
- **严禁添加**：若指令未提及上述关键词，**严禁**主动添加此节点（即使是拍照、返航或降落等动作，只要用户没说要确认，就直接执行）。
|
||||
3. 在条件节点 `object_detected` 执行前，必须先安排搜索类动作节点（优先使用 `rotate_search`，仅当需大范围移动时用 `search_pattern`），确保无人机主动寻找目标。
|
||||
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；仅当用户指令明确在**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“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**：当指令为“快速去往东边100米”，直接使用 `move_direction` 节点+距离参数，严禁使用fly_to_waypoint
|
||||
|
||||
## 七、坐标计算规则（东南天坐标系 ENU）
|
||||
本系统统一使用东南天（ENU）坐标系：
|
||||
- **X轴**：正方向为**东** (East)，负方向为**西** (West)
|
||||
- **Y轴**：正方向为**南** (South)向为**北** (North)
|
||||
- **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`：**
|
||||
|
||||
当指令包含“具体地点 + 方向 + 距离”的偏移时，按方向类型选择工具：
|
||||
- **单一方向**（东/西/南/北/上/下，如“广场西边200米”）：**必须**先调用工具`calc_offset_enu`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction`: east/west/north/south/up/down
|
||||
- `distance`: 偏移距离（米）
|
||||
- **中文复合方位**（东南/西北/东北/西南/南偏东10度/北偏西15度等）：**必须**先调用工具`calc_offset_esu_direction_text`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction_text`: 中文方位原文（如“东南”“南偏东10度”）
|
||||
- `distance`: 偏移距离（米）
|
||||
- **禁止简化**：当出现“东南/西北/东北/西南/南偏东/北偏西”等复合方位时，禁止将其简化为单一方向（如仅“东”或仅“南”）。
|
||||
|
||||
示例（必须遵守）：
|
||||
- “飞到广场东南方向100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"东南"`，`distance` 为 `100`，再使用 `fly_to_waypoint`。
|
||||
- “飞到广场南偏东10度100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"南偏东10度"`，`distance` 为 `100`。
|
||||
|
||||
当指令只有“方向 + 距离”且**没有具体地点名词**时，**禁止**调用`calc_offset_enu`，必须使用`move_direction`。
|
||||
当指令描述“附近/边上/区域内”等模糊位置且**无方向+距离**时，视为到该地点本身，不做偏移计算。
|
||||
|
||||
## 八、输出要求
|
||||
仅输出1个严格符合上述所有规则的JSON对象。
|
||||
185
backend_service/src/prompts/partials/core_nodes.json
Normal file
185
backend_service/src/prompts/partials/core_nodes.json
Normal file
@@ -0,0 +1,185 @@
|
||||
{
|
||||
"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",
|
||||
"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,'depth':5}, ...]；depth可选，不填则保持当前高度)",
|
||||
"coordinate_frame": "'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）",
|
||||
"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": "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": "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，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"
|
||||
}
|
||||
}
|
||||
],
|
||||
"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/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）"
|
||||
}
|
||||
]
|
||||
}
|
||||
1
backend_service/src/prompts/partials/header.txt
Normal file
1
backend_service/src/prompts/partials/header.txt
Normal file
@@ -0,0 +1 @@
|
||||
任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
|
||||
8
backend_service/src/prompts/partials/required_fields.txt
Normal file
8
backend_service/src/prompts/partials/required_fields.txt
Normal file
@@ -0,0 +1,8 @@
|
||||
## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
|
||||
每个节点必须包含以下字段，字段名/类型不可自定义：
|
||||
1. **`type`**：
|
||||
- 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
|
||||
2. **`name`**：必须是上述JSON中定义的`name`值；
|
||||
3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
|
||||
4. **`children`**：仅控制流节点必含（子节点数组）；
|
||||
5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
|
||||
@@ -1,74 +1,3 @@
|
||||
任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
|
||||
|
||||
## 一、核心节点定义（格式不可修改，确保后端解析）
|
||||
#### 1. 可用节点定义 (必须遵守)
|
||||
你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：
|
||||
```json
|
||||
{
|
||||
"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","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,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","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":"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":"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，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"}}
|
||||
],
|
||||
"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/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）"}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
|
||||
每个节点必须包含以下字段，字段名/类型不可自定义：
|
||||
1. **`type`**：
|
||||
- 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
|
||||
2. **`name`**：必须是上述JSON中定义的`name`值；
|
||||
3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
|
||||
4. **`children`**：仅控制流节点必含（子节点数组）；
|
||||
5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
|
||||
|
||||
|
||||
## 三、标准任务结构模板（单次起降流程）
|
||||
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":"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) ---
|
||||
// 默认不需要降落节点，除非用户明确要求
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
而当无人机在空中时，则无需system_checks与takeoff环节，直接执行用户任务即可
|
||||
|
||||
## 四、场景示例
|
||||
|
||||
#### 场景 1：地面到12米绕外围查看打开的窗户（Sequence）
|
||||
208
backend_service/src/prompts/partials/scene4_examples.txt
Normal file
208
backend_service/src/prompts/partials/scene4_examples.txt
Normal file
@@ -0,0 +1,208 @@
|
||||
## 四、场景示例（请灵活参考）
|
||||
|
||||
#### 场景 1：线性搜索任务（Sequence + Selector）
|
||||
**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
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainSearchTask",
|
||||
"children": [
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "PhotoIfFound",
|
||||
"children": [
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 2：带中断逻辑的巡逻（Selector 示例）
|
||||
**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",
|
||||
"name": "FlyOrDetect",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"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}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 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": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_to_waypoint",
|
||||
"params": {
|
||||
"x": 50.0,
|
||||
"y": 50.0,
|
||||
"z": 10.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "MonitorAndPhoto",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "loiter",
|
||||
"params": {
|
||||
"time": 300
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "object_detect",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "condition",
|
||||
"name": "object_detected",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "take_photos",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "return_emergency",
|
||||
"params": {
|
||||
"reason": "任务完成"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 4：交互式确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。”
|
||||
**思路**：无人机已在空中，无需起飞，直接进行搜索。首先使用`rotate_search`主动搜索目标，配合`object_detected`条件节点确认目标是否被检测到。检测到后，执行`manual_confirmation`节点等待用户确认。只有用户确认通过（返回Success），才会继续执行后续的`take_photos`动作。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchConfirmPhoto",
|
||||
"children": [
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 5：后置确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在地面，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航”
|
||||
**思路**：无人机在地面，需起飞。搜索小汽车（`rotate_search` + `object_detected`）。搜索到后，先执行拍照（`take_photos`）。之后执行人工确认（`manual_confirmation`），确认通过后才执行返航（`return_emergency`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchPhotoConfirmReturn",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"return_emergency","params":{"reason":"确认后返航"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：移动后条件降落（Sequence）
|
||||
**指令**：“无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。”
|
||||
**参考知识**：广场坐标（x:0.0, y:0.0, z:10.0）
|
||||
**思路**：无人机在空中，无需起飞。首先飞往广场（`fly_to_waypoint`），严禁使用`return_emergency`。到达后，为了满足“看见红绿灯”的条件，必须先执行主动搜索（`rotate_search`）。一旦检测到红绿灯（`object_detected`），即执行降落（`land`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlySearchLand",
|
||||
"children": [
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":0.0,"y":0.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"action","name":"land","params":{"mode":"current"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
18
backend_service/src/prompts/partials/standard_template.txt
Normal file
18
backend_service/src/prompts/partials/standard_template.txt
Normal file
@@ -0,0 +1,18 @@
|
||||
## 三、标准任务结构模板（单次起降流程）
|
||||
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":"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) ---
|
||||
// 默认不需要降落节点，除非用户明确要求
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
而当无人机在空中时，则无需system_checks与takeoff环节，直接执行用户任务即可
|
||||
@@ -1,283 +1,3 @@
|
||||
任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
|
||||
|
||||
## 一、核心节点定义（格式不可修改，确保后端解析）
|
||||
#### 1. 可用节点定义 (必须遵守)
|
||||
你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：
|
||||
```json
|
||||
{
|
||||
"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","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,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","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":"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":"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，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"}}
|
||||
],
|
||||
"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/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）"}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
|
||||
每个节点必须包含以下字段，字段名/类型不可自定义：
|
||||
1. **`type`**：
|
||||
- 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
|
||||
2. **`name`**：必须是上述JSON中定义的`name`值；
|
||||
3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
|
||||
4. **`children`**：仅控制流节点必含（子节点数组）；
|
||||
5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
|
||||
|
||||
|
||||
## 三、标准任务结构模板（单次起降流程）
|
||||
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":"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) ---
|
||||
// 默认不需要降落节点，除非用户明确要求
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
而当无人机在空中时，则无需system_checks与takeoff环节，直接执行用户任务即可
|
||||
|
||||
## 四、场景示例（请灵活参考）
|
||||
|
||||
#### 场景 1：线性搜索任务（Sequence + Selector）
|
||||
**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
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainSearchTask",
|
||||
"children": [
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "PhotoIfFound",
|
||||
"children": [
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 2：带中断逻辑的巡逻（Selector 示例）
|
||||
**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",
|
||||
"name": "FlyOrDetect",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"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}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 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": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_to_waypoint",
|
||||
"params": {
|
||||
"x": 50.0,
|
||||
"y": 50.0,
|
||||
"z": 10.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "MonitorAndPhoto",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "loiter",
|
||||
"params": {
|
||||
"time": 300
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "object_detect",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "condition",
|
||||
"name": "object_detected",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "take_photos",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "return_emergency",
|
||||
"params": {
|
||||
"reason": "任务完成"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 4：交互式确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。”
|
||||
**思路**：无人机已在空中，无需起飞，直接进行搜索。首先使用`rotate_search`主动搜索目标，配合`object_detected`条件节点确认目标是否被检测到。检测到后，执行`manual_confirmation`节点等待用户确认。只有用户确认通过（返回Success），才会继续执行后续的`take_photos`动作。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchConfirmPhoto",
|
||||
"children": [
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 5：后置确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在地面，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航”
|
||||
**思路**：无人机在地面，需起飞。搜索小汽车（`rotate_search` + `object_detected`）。搜索到后，先执行拍照（`take_photos`）。之后执行人工确认（`manual_confirmation`），确认通过后才执行返航（`return_emergency`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchPhotoConfirmReturn",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"return_emergency","params":{"reason":"确认后返航"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：移动后条件降落（Sequence）
|
||||
**指令**：“无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。”
|
||||
**参考知识**：广场坐标（x:0.0, y:0.0, z:10.0）
|
||||
**思路**：无人机在空中，无需起飞。首先飞往广场（`fly_to_waypoint`），严禁使用`return_emergency`。到达后，为了满足“看见红绿灯”的条件，必须先执行主动搜索（`rotate_search`）。一旦检测到红绿灯（`object_detected`），即执行降落（`land`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlySearchLand",
|
||||
"children": [
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":0.0,"y":0.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"action","name":"land","params":{"mode":"current"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 7：空中上升后沿建筑外围侦察（Sequence + Selector）
|
||||
**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。”
|
||||
**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。
|
||||
@@ -767,45 +487,3 @@
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## 六、高频错误规避
|
||||
1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`
|
||||
2. **人工确认节点 (`manual_confirmation`) 使用原则**：
|
||||
- **必须添加**：仅当指令中明确包含“我确认”、“等待确认”、“经允许”、“我通过后”等人工介入关键词时，**必须**在相应动作前添加此节点。
|
||||
- **严禁添加**：若指令未提及上述关键词，**严禁**主动添加此节点（即使是拍照、返航或降落等动作，只要用户没说要确认，就直接执行）。
|
||||
3. 在条件节点 `object_detected` 执行前，必须先安排搜索类动作节点（优先使用 `rotate_search`，仅当需大范围移动时用 `search_pattern`），确保无人机主动寻找目标。
|
||||
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“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**：当指令为“快速去往东边100米”，直接使用 `move_direction` 节点+距离参数，严禁使用fly_to_waypoint
|
||||
|
||||
## 七、坐标计算规则（东南天坐标系 ENU）
|
||||
本系统统一使用东南天（ENU）坐标系：
|
||||
- **X轴**：正方向为**东** (East)，负方向为**西** (West)
|
||||
- **Y轴**：正方向为**南** (South)向为**北** (North)
|
||||
- **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`：**
|
||||
|
||||
当指令包含“具体地点 + 方向 + 距离”的偏移时，按方向类型选择工具：
|
||||
- **单一方向**（东/西/南/北/上/下，如“广场西边200米”）：**必须**先调用工具`calc_offset_enu`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction`: east/west/north/south/up/down
|
||||
- `distance`: 偏移距离（米）
|
||||
- **中文复合方位**（东南/西北/东北/西南/南偏东10度/北偏西15度等）：**必须**先调用工具`calc_offset_esu_direction_text`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction_text`: 中文方位原文（如“东南”“南偏东10度”）
|
||||
- `distance`: 偏移距离（米）
|
||||
- **禁止简化**：当出现“东南/西北/东北/西南/南偏东/北偏西”等复合方位时，禁止将其简化为单一方向（如仅“东”或仅“南”）。
|
||||
|
||||
示例（必须遵守）：
|
||||
- “飞到广场东南方向100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"东南"`，`distance` 为 `100`，再使用 `fly_to_waypoint`。
|
||||
- “飞到广场南偏东10度100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"南偏东10度"`，`distance` 为 `100`。
|
||||
|
||||
当指令只有“方向 + 距离”且**没有具体地点名词**时，**禁止**调用`calc_offset_enu`，必须使用`move_direction`。
|
||||
当指令描述“附近/边上/区域内”等模糊位置且**无方向+距离**时，视为到该地点本身，不做偏移计算。
|
||||
|
||||
## 八、输出要求
|
||||
仅输出1个严格符合上述所有规则的JSON对象。
|
||||
24
backend_service/src/prompts/prompt_manifest.yaml
Normal file
24
backend_service/src/prompts/prompt_manifest.yaml
Normal file
@@ -0,0 +1,24 @@
|
||||
scenes:
|
||||
system:
|
||||
- header.txt
|
||||
- core_nodes.json
|
||||
- required_fields.txt
|
||||
- standard_template.txt
|
||||
- scene4_examples.txt
|
||||
- system_extra_examples.txt
|
||||
- common_rules.txt
|
||||
scene1:
|
||||
- header.txt
|
||||
- core_nodes.json
|
||||
- required_fields.txt
|
||||
- standard_template.txt
|
||||
- scene1_examples.txt
|
||||
scene4:
|
||||
- header.txt
|
||||
- core_nodes.json
|
||||
- required_fields.txt
|
||||
- standard_template.txt
|
||||
- scene4_examples.txt
|
||||
- common_rules.txt
|
||||
simple:
|
||||
- simple_mode_prompt.txt
|
||||
@@ -1,321 +0,0 @@
|
||||
任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**。
|
||||
|
||||
## 一、核心节点定义（格式不可修改，确保后端解析）
|
||||
#### 1. 可用节点定义 (必须遵守)
|
||||
你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：
|
||||
```json
|
||||
{
|
||||
"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","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,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","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":"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":"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，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"}}
|
||||
],
|
||||
"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/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）"}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
|
||||
每个节点必须包含以下字段，字段名/类型不可自定义：
|
||||
1. **`type`**：
|
||||
- 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`；
|
||||
2. **`name`**：必须是上述JSON中定义的`name`值；
|
||||
3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数；
|
||||
4. **`children`**：仅控制流节点必含（子节点数组）；
|
||||
5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。
|
||||
|
||||
|
||||
## 三、标准任务结构模板（单次起降流程）
|
||||
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":"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) ---
|
||||
// 默认不需要降落节点，除非用户明确要求
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
而当无人机在空中时，则无需system_checks与takeoff环节，直接执行用户任务即可
|
||||
|
||||
## 四、场景示例（请灵活参考）
|
||||
|
||||
#### 场景 1：线性搜索任务（Sequence + Selector）
|
||||
**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
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "MainSearchTask",
|
||||
"children": [
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{
|
||||
"type": "Selector",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"name": "PhotoIfFound",
|
||||
"children": [
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 2：带中断逻辑的巡逻（Selector 示例）
|
||||
**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",
|
||||
"name": "FlyOrDetect",
|
||||
"children": [
|
||||
{
|
||||
"type": "Sequence",
|
||||
"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}}
|
||||
]
|
||||
},
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 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": {
|
||||
"type": "Sequence",
|
||||
"name": "MainTask",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "fly_to_waypoint",
|
||||
"params": {
|
||||
"x": 50.0,
|
||||
"y": 50.0,
|
||||
"z": 10.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "Parallel",
|
||||
"name": "MonitorAndPhoto",
|
||||
"params": {
|
||||
"policy": "success_on_one"
|
||||
},
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "loiter",
|
||||
"params": {
|
||||
"time": 300
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "decorator",
|
||||
"name": "SuccessIsFailure",
|
||||
"child": {
|
||||
"type": "Sequence",
|
||||
"name": "CheckAndPhoto",
|
||||
"children": [
|
||||
{
|
||||
"type": "action",
|
||||
"name": "object_detect",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "condition",
|
||||
"name": "object_detected",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "take_photos",
|
||||
"params": {
|
||||
"target_class": "person"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"type": "action",
|
||||
"name": "return_emergency",
|
||||
"params": {
|
||||
"reason": "任务完成"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 4：交互式确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在空中，搜索小汽车，搜索到了我确认后再决定要不要拍照。”
|
||||
**思路**：无人机已在空中，无需起飞，直接进行搜索。首先使用`rotate_search`主动搜索目标，配合`object_detected`条件节点确认目标是否被检测到。检测到后，执行`manual_confirmation`节点等待用户确认。只有用户确认通过（返回Success），才会继续执行后续的`take_photos`动作。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchConfirmPhoto",
|
||||
"children": [
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 5：后置确认任务（Sequence + Manual Confirmation）
|
||||
**指令**：“无人机当前在地面，搜索小汽车，搜索到了拍张照，我确认后再决定要不要返航”
|
||||
**思路**：无人机在地面，需起飞。搜索小汽车（`rotate_search` + `object_detected`）。搜索到后，先执行拍照（`take_photos`）。之后执行人工确认（`manual_confirmation`），确认通过后才执行返航（`return_emergency`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "SearchPhotoConfirmReturn",
|
||||
"children": [
|
||||
{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
|
||||
{"type":"action","name":"takeoff","params":{"altitude":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}},
|
||||
{"type":"action","name":"manual_confirmation","params":{}},
|
||||
{"type":"action","name":"return_emergency","params":{"reason":"确认后返航"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### 场景 6：移动后条件降落（Sequence）
|
||||
**指令**：“无人机当前在空中，紧急回到广场，看见了红绿灯之后直接降落。”
|
||||
**参考知识**：广场坐标（x:0.0, y:0.0, z:10.0）
|
||||
**思路**：无人机在空中，无需起飞。首先飞往广场（`fly_to_waypoint`），严禁使用`return_emergency`。到达后，为了满足“看见红绿灯”的条件，必须先执行主动搜索（`rotate_search`）。一旦检测到红绿灯（`object_detected`），即执行降落（`land`）。
|
||||
**结构**：Sequence
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"type": "Sequence",
|
||||
"name": "FlySearchLand",
|
||||
"children": [
|
||||
{"type":"action","name":"fly_to_waypoint","params":{"x":0.0,"y":0.0,"z":10.0}},
|
||||
{"type":"action","name":"rotate_search","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"condition","name":"object_detected","params":{"target_class":"traffic_light","description":"红绿灯"}},
|
||||
{"type":"action","name":"land","params":{"mode":"current"}}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## 六、高频错误规避
|
||||
1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`
|
||||
2. **人工确认节点 (`manual_confirmation`) 使用原则**：
|
||||
- **必须添加**：仅当指令中明确包含“我确认”、“等待确认”、“经允许”、“我通过后”等人工介入关键词时，**必须**在相应动作前添加此节点。
|
||||
- **严禁添加**：若指令未提及上述关键词，**严禁**主动添加此节点（即使是拍照、返航或降落等动作，只要用户没说要确认，就直接执行）。
|
||||
3. 在条件节点 `object_detected` 执行前，必须先安排搜索类动作节点（优先使用 `rotate_search`，仅当需大范围移动时用 `search_pattern`），确保无人机主动寻找目标。
|
||||
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“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**：当指令为“快速去往东边100米”，直接使用 `move_direction` 节点+距离参数，严禁使用fly_to_waypoint
|
||||
|
||||
## 七、坐标计算规则（东南天坐标系 ENU）
|
||||
本系统统一使用东南天（ENU）坐标系：
|
||||
- **X轴**：正方向为**东** (East)，负方向为**西** (West)
|
||||
- **Y轴**：正方向为**南** (South)向为**北** (North)
|
||||
- **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`：**
|
||||
|
||||
当指令包含“具体地点 + 方向 + 距离”的偏移时，按方向类型选择工具：
|
||||
- **单一方向**（东/西/南/北/上/下，如“广场西边200米”）：**必须**先调用工具`calc_offset_enu`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction`: east/west/north/south/up/down
|
||||
- `distance`: 偏移距离（米）
|
||||
- **中文复合方位**（东南/西北/东北/西南/南偏东10度/北偏西15度等）：**必须**先调用工具`calc_offset_esu_direction_text`计算绝对坐标，再使用`fly_to_waypoint`。工具参数：
|
||||
- `base`: 参考地点的ENU坐标（含x/y/z）
|
||||
- `direction_text`: 中文方位原文（如“东南”“南偏东10度”）
|
||||
- `distance`: 偏移距离（米）
|
||||
- **禁止简化**：当出现“东南/西北/东北/西南/南偏东/北偏西”等复合方位时，禁止将其简化为单一方向（如仅“东”或仅“南”）。
|
||||
|
||||
示例（必须遵守）：
|
||||
- “飞到广场东南方向100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"东南"`，`distance` 为 `100`，再使用 `fly_to_waypoint`。
|
||||
- “飞到广场南偏东10度100米” → 必须调用 `calc_offset_esu_direction_text`，参数 `direction_text` 为 `"南偏东10度"`，`distance` 为 `100`。
|
||||
|
||||
当指令只有“方向 + 距离”且**没有具体地点名词**时，**禁止**调用`calc_offset_enu`，必须使用`move_direction`。
|
||||
当指令描述“附近/边上/区域内”等模糊位置且**无方向+距离**时，视为到该地点本身，不做偏移计算。
|
||||
|
||||
## 八、输出要求
|
||||
仅输出1个严格符合上述所有规则的JSON对象。
|
||||
@@ -10,7 +10,8 @@ from openai import OpenAIError
|
||||
import jsonschema
|
||||
import requests
|
||||
import platform # 新增：用于选择合适的中文字体
|
||||
from .tools.coordinate_tools import calc_offset_enu
|
||||
import yaml
|
||||
from .tools.coordinate_tools import calc_offset_enu, calc_offset_esu_direction_text
|
||||
|
||||
# --- 自定义远程嵌入函数 (与ingest.py中定义一致) ---
|
||||
from chromadb.api.types import Documents, EmbeddingFunction, Embeddings, Embeddable
|
||||
@@ -580,6 +581,8 @@ class PyTreeGenerator:
|
||||
def __init__(self):
|
||||
self.base_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
self.prompts_dir = os.path.join(self.base_dir, 'prompts')
|
||||
self._prompt_manifest_cache = None
|
||||
self._prompt_manifest_mtime = None
|
||||
|
||||
# Updated output directory for visualizations
|
||||
self.vis_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_visualizations'))
|
||||
@@ -594,11 +597,11 @@ class PyTreeGenerator:
|
||||
self.reasoning_preview_lines = int(os.getenv("REASONING_PREVIEW_LINES", "20"))
|
||||
except Exception:
|
||||
self.reasoning_preview_lines = 20
|
||||
# 加载提示词：复杂模式复用现有 system_prompt.txt；场景1/4与分类器独立提示词
|
||||
self.complex_prompt = self._load_prompt("system_prompt.txt")
|
||||
self.scene1_prompt = self._load_prompt("scene1_prompt.txt")
|
||||
self.scene4_prompt = self._load_prompt("scene4_prompt.txt")
|
||||
self.simple_prompt = self._load_prompt("simple_mode_prompt.txt")
|
||||
# 加载提示词：优先使用清单拼接，失败回退到单文件
|
||||
self.complex_prompt = self._load_prompt_from_manifest("system", "system_prompt.txt")
|
||||
self.scene1_prompt = self._load_prompt_from_manifest("scene1", "scene1_prompt.txt")
|
||||
self.scene4_prompt = self._load_prompt_from_manifest("scene4", "scene4_prompt.txt")
|
||||
self.simple_prompt = self._load_prompt_from_manifest("simple", "simple_mode_prompt.txt")
|
||||
self.classifier_prompt = self._load_prompt("classifier_prompt.txt")
|
||||
self.scene_classifier_prompt = self._load_prompt("scene_classifier_prompt.txt")
|
||||
# 兼容旧变量名
|
||||
@@ -648,6 +651,97 @@ class PyTreeGenerator:
|
||||
logging.error(f"提示词文件未找到 -> {file_name}")
|
||||
return ""
|
||||
|
||||
def _load_prompt_manifest(self) -> Optional[dict]:
|
||||
manifest_path = os.path.join(self.prompts_dir, "prompt_manifest.yaml")
|
||||
try:
|
||||
manifest_mtime = os.path.getmtime(manifest_path)
|
||||
except FileNotFoundError:
|
||||
return None
|
||||
|
||||
if (
|
||||
self._prompt_manifest_cache is not None
|
||||
and self._prompt_manifest_mtime == manifest_mtime
|
||||
):
|
||||
return self._prompt_manifest_cache
|
||||
|
||||
try:
|
||||
with open(manifest_path, "r", encoding="utf-8") as f:
|
||||
manifest = yaml.safe_load(f) or {}
|
||||
except Exception as exc:
|
||||
logging.error(f"提示词清单加载失败 -> {exc}")
|
||||
return None
|
||||
|
||||
if not isinstance(manifest, dict):
|
||||
logging.error("提示词清单格式错误：顶层必须为映射")
|
||||
return None
|
||||
|
||||
self._prompt_manifest_cache = manifest
|
||||
self._prompt_manifest_mtime = manifest_mtime
|
||||
return manifest
|
||||
|
||||
def _resolve_prompt_fragment(self, fragment: str) -> str:
|
||||
if os.path.isabs(fragment):
|
||||
return fragment
|
||||
if "/" in fragment:
|
||||
return os.path.join(self.prompts_dir, fragment)
|
||||
partial_path = os.path.join(self.prompts_dir, "partials", fragment)
|
||||
if os.path.exists(partial_path):
|
||||
return partial_path
|
||||
return os.path.join(self.prompts_dir, fragment)
|
||||
|
||||
def _load_fragment_text(self, fragment_path: str) -> str:
|
||||
if fragment_path.lower().endswith(".json"):
|
||||
try:
|
||||
with open(fragment_path, "r", encoding="utf-8") as f:
|
||||
payload = json.load(f)
|
||||
except Exception as exc:
|
||||
raise ValueError(f"JSON片段解析失败: {exc}") from exc
|
||||
|
||||
json_text = json.dumps(payload, ensure_ascii=False, indent=2)
|
||||
if os.path.basename(fragment_path) == "core_nodes.json":
|
||||
return "\n".join(
|
||||
[
|
||||
"## 一、核心节点定义（格式不可修改，确保后端解析）",
|
||||
"#### 1. 可用节点定义 (必须遵守)",
|
||||
"你必须严格从以下JSON定义的列表中选择节点构建行为树，不允许使用未定义节点：",
|
||||
"```json",
|
||||
json_text,
|
||||
"```",
|
||||
]
|
||||
)
|
||||
return "\n".join(["```json", json_text, "```"])
|
||||
|
||||
with open(fragment_path, "r", encoding="utf-8") as f:
|
||||
return f.read()
|
||||
|
||||
def _load_prompt_from_manifest(self, scene_key: str, fallback_file: str) -> str:
|
||||
manifest = self._load_prompt_manifest()
|
||||
if not manifest:
|
||||
return self._load_prompt(fallback_file)
|
||||
|
||||
scene_map = manifest.get("scenes", manifest)
|
||||
fragments = scene_map.get(scene_key)
|
||||
if not fragments:
|
||||
logging.warning(f"提示词清单缺少场景配置 -> {scene_key}")
|
||||
return self._load_prompt(fallback_file)
|
||||
if not isinstance(fragments, list) or not all(isinstance(item, str) for item in fragments):
|
||||
logging.warning(f"提示词清单场景配置非法 -> {scene_key}")
|
||||
return self._load_prompt(fallback_file)
|
||||
|
||||
contents = []
|
||||
for fragment in fragments:
|
||||
fragment_path = self._resolve_prompt_fragment(fragment)
|
||||
try:
|
||||
contents.append(self._load_fragment_text(fragment_path).strip("\n"))
|
||||
except FileNotFoundError:
|
||||
logging.error(f"提示词片段未找到 -> {fragment_path}")
|
||||
return self._load_prompt(fallback_file)
|
||||
except ValueError as exc:
|
||||
logging.error(f"提示词片段解析失败 -> {exc}")
|
||||
return self._load_prompt(fallback_file)
|
||||
|
||||
return "\n\n".join(contents).strip("\n")
|
||||
|
||||
def _get_tool_definitions(self) -> list[dict]:
|
||||
return [
|
||||
{
|
||||
@@ -679,6 +773,33 @@ class PyTreeGenerator:
|
||||
"required": ["base", "direction", "distance"]
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "function",
|
||||
"function": {
|
||||
"name": "calc_offset_esu_direction_text",
|
||||
"description": "根据ESU坐标系基准点、中文方位与距离计算偏移后的坐标。",
|
||||
"parameters": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"base": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {"type": "number"},
|
||||
"y": {"type": "number"},
|
||||
"z": {"type": "number"}
|
||||
},
|
||||
"required": ["x", "y", "z"]
|
||||
},
|
||||
"direction_text": {
|
||||
"type": "string",
|
||||
"description": "中文方位，如“南偏东10度”“北偏东10度”“东南”“西北”等"
|
||||
},
|
||||
"distance": {"type": "number", "minimum": 0}
|
||||
},
|
||||
"required": ["base", "direction_text", "distance"]
|
||||
}
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
@@ -721,6 +842,8 @@ class PyTreeGenerator:
|
||||
try:
|
||||
if tool_name == "calc_offset_enu":
|
||||
result = calc_offset_enu(**args)
|
||||
elif tool_name == "calc_offset_esu_direction_text":
|
||||
result = calc_offset_esu_direction_text(**args)
|
||||
else:
|
||||
result = {"error": f"unsupported tool: {tool_name}"}
|
||||
tool_messages.append(
|
||||
@@ -767,6 +890,8 @@ class PyTreeGenerator:
|
||||
"东侧", "西侧", "南侧", "北侧",
|
||||
"往东", "往西", "往南", "往北",
|
||||
"向东", "向西", "向南", "向北",
|
||||
"东南", "西南", "东北", "西北",
|
||||
"南偏东", "南偏西", "北偏东", "北偏西",
|
||||
]
|
||||
has_direction = any(pat in user_prompt for pat in direction_patterns)
|
||||
has_distance = re.search(r"\d+(\.\d+)?\s*(米|m)", user_prompt) is not None
|
||||
|
||||
Reference in New Issue
Block a user