提示词分段编排解耦
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lulijing
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backend_service/src/prompts/partials/scene4_examples.txt
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backend_service/src/prompts/partials/scene4_examples.txt
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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**：“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。”
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**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。
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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": "CheckAndPhoto",
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"children": [
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{
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"type": "Sequence",
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"name": "PhotoIfFound",
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"children": [
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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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{"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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]
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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**：“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。”
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**参考知识**：航点A的坐标（x:100.0,y:50.0）
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**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。
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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":"system_checks","params":{"check_level":"basic"}},
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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":"condition","name":"object_detected","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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}
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}
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```
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#### 场景 3：长期监控任务（Parallel 示例）
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**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。”
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**参考知识**：广场西边200米的坐标（x:50.0,y:50.0,z:10.0）
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**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）。
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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。
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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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"name": "MainTask",
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"children": [
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{
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"type": "action",
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"name": "fly_to_waypoint",
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"params": {
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"x": 50.0,
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"y": 50.0,
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"z": 10.0
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}
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},
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{
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"type": "Parallel",
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"name": "MonitorAndPhoto",
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"params": {
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"policy": "success_on_one"
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},
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"children": [
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{
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"type": "action",
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"name": "loiter",
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"params": {
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"time": 300
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}
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},
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{
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"type": "decorator",
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"name": "SuccessIsFailure",
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"child": {
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"type": "Sequence",
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"name": "CheckAndPhoto",
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"children": [
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{
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"type": "action",
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"name": "object_detect",
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"params": {
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"target_class": "person"
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}
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},
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{
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"type": "condition",
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"name": "object_detected",
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"params": {
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"target_class": "person"
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}
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},
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{
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"type": "action",
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"name": "take_photos",
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"params": {
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"target_class": "person"
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}
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}
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]
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}
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}
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]
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},
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{
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"type": "action",
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"name": "return_emergency",
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"params": {
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"reason": "任务完成"
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}
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}
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]
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}
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}
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```
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#### 场景 4：交互式确认任务（Sequence + Manual Confirmation）
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**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。”
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**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。
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**结构**：Sequence
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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": "SearchConfirmPhoto",
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"children": [
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{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
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{"type":"action","name":"manual_confirmation","params":{}},
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{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}}
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]
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}
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}
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```
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#### 场景 5：后置确认任务（Sequence + Manual Confirmation）
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**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”
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**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`）。
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**结构**：Sequence
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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": "SearchPhotoConfirmReturn",
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"children": [
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{"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}},
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{"type":"action","name":"takeoff","params":{"altitude":10.0}},
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{"type":"action","name":"rotate_search","params":{"target_class":"car","description":"小汽车"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"car","description":"小汽车"}},
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{"type":"action","name":"take_photos","params":{"target_class":"car","description":"小汽车"}},
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{"type":"action","name":"manual_confirmation","params":{}},
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{"type":"action","name":"return_emergency","params":{"reason":"确认后返航"}}
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]
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}
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}
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```
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#### 场景 6：移动后条件降落（Sequence）
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**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。”
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**参考知识**：广场坐标（x:0.0, y:0.0, z:10.0）
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**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`）。
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**结构**：Sequence
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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": "FlySearchLand",
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"children": [
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{"type":"action","name":"fly_to_waypoint","params":{"x":0.0,"y":0.0,"z":10.0}},
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{"type":"action","name":"rotate_search","params":{"target_class":"traffic_light","description":"红绿灯"}},
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{"type":"condition","name":"object_detected","params":{"target_class":"traffic_light","description":"红绿灯"}},
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{"type":"action","name":"land","params":{"mode":"current"}}
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]
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}
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}
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```
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