Compare commits
2 Commits
410d2e01e4
...
e164148c5c
| Author | SHA1 | Date | |
|---|---|---|---|
|
e164148c5c | ||
|
|
b12339ff73 |
@@ -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
|
## 四、场景示例
|
||||||
|
|
||||||
#### 场景 1：地面到12米绕外围查看打开的窗户（Sequence）
|
#### 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）
|
#### 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。”
|
**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)。
|
**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)。
|
||||||
@@ -767,35 +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（如“广场西边200米”）时，**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）
|
|
||||||
|
|
||||||
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
|
||||||
@@ -1,311 +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（如“广场西边200米”）时，**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）
|
|
||||||
|
|
||||||
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 jsonschema
|
||||||
import requests
|
import requests
|
||||||
import platform # 新增：用于选择合适的中文字体
|
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) ---
|
# --- 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
|
from chromadb.api.types import Documents, EmbeddingFunction, Embeddings, Embeddable
|
||||||
@@ -580,6 +581,8 @@ class PyTreeGenerator:
|
|||||||
def __init__(self):
|
def __init__(self):
|
||||||
self.base_dir = os.path.dirname(os.path.abspath(__file__))
|
self.base_dir = os.path.dirname(os.path.abspath(__file__))
|
||||||
self.prompts_dir = os.path.join(self.base_dir, 'prompts')
|
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
|
# Updated output directory for visualizations
|
||||||
self.vis_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_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"))
|
self.reasoning_preview_lines = int(os.getenv("REASONING_PREVIEW_LINES", "20"))
|
||||||
except Exception:
|
except Exception:
|
||||||
self.reasoning_preview_lines = 20
|
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
|
# 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("system_prompt.txt")
|
self.complex_prompt = self._load_prompt_from_manifest("system", "system_prompt.txt")
|
||||||
self.scene1_prompt = self._load_prompt("scene1_prompt.txt")
|
self.scene1_prompt = self._load_prompt_from_manifest("scene1", "scene1_prompt.txt")
|
||||||
self.scene4_prompt = self._load_prompt("scene4_prompt.txt")
|
self.scene4_prompt = self._load_prompt_from_manifest("scene4", "scene4_prompt.txt")
|
||||||
self.simple_prompt = self._load_prompt("simple_mode_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.classifier_prompt = self._load_prompt("classifier_prompt.txt")
|
||||||
self.scene_classifier_prompt = self._load_prompt("scene_classifier_prompt.txt")
|
self.scene_classifier_prompt = self._load_prompt("scene_classifier_prompt.txt")
|
||||||
# 兼容旧变量名
|
# 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}")
|
logging.error(f"提示词文件未找到 -> {file_name}")
|
||||||
return ""
|
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]:
|
def _get_tool_definitions(self) -> list[dict]:
|
||||||
return [
|
return [
|
||||||
{
|
{
|
||||||
@@ -679,6 +773,33 @@ class PyTreeGenerator:
|
|||||||
"required": ["base", "direction", "distance"]
|
"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:
|
try:
|
||||||
if tool_name == "calc_offset_enu":
|
if tool_name == "calc_offset_enu":
|
||||||
result = calc_offset_enu(**args)
|
result = calc_offset_enu(**args)
|
||||||
|
elif tool_name == "calc_offset_esu_direction_text":
|
||||||
|
result = calc_offset_esu_direction_text(**args)
|
||||||
else:
|
else:
|
||||||
result = {"error": f"unsupported tool: {tool_name}"}
|
result = {"error": f"unsupported tool: {tool_name}"}
|
||||||
tool_messages.append(
|
tool_messages.append(
|
||||||
@@ -767,6 +890,8 @@ class PyTreeGenerator:
|
|||||||
"东侧", "西侧", "南侧", "北侧",
|
"东侧", "西侧", "南侧", "北侧",
|
||||||
"往东", "往西", "往南", "往北",
|
"往东", "往西", "往南", "往北",
|
||||||
"向东", "向西", "向南", "向北",
|
"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_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
|
has_distance = re.search(r"\d+(\.\d+)?\s*(米|m)", user_prompt) is not None
|
||||||
|
|||||||
BIN
backend_service/src/tools/__pycache__/__init__.cpython-310.pyc
Normal file
BIN
backend_service/src/tools/__pycache__/__init__.cpython-310.pyc
Normal file
Binary file not shown.
Binary file not shown.
@@ -1,5 +1,7 @@
|
|||||||
from __future__ import annotations
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import math
|
||||||
|
import re
|
||||||
from typing import Dict, Tuple
|
from typing import Dict, Tuple
|
||||||
|
|
||||||
|
|
||||||
@@ -37,3 +39,72 @@ def calc_offset_enu(base: Dict[str, float], direction: str, distance: float) ->
|
|||||||
offset_z = z + dz * distance
|
offset_z = z + dz * distance
|
||||||
|
|
||||||
return {"x": offset_x, "y": offset_y, "z": offset_z}
|
return {"x": offset_x, "y": offset_y, "z": offset_z}
|
||||||
|
|
||||||
|
|
||||||
|
_DIRECTION_TEXT_DIAGONALS_ESU: Dict[str, Tuple[float, float]] = {
|
||||||
|
"东南": (1.0, 1.0),
|
||||||
|
"西南": (-1.0, 1.0),
|
||||||
|
"东北": (1.0, -1.0),
|
||||||
|
"西北": (-1.0, -1.0),
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
def _parse_direction_text_esu(direction_text: str) -> Tuple[float, float]:
|
||||||
|
text = (direction_text or "").strip().replace(" ", "")
|
||||||
|
if not text:
|
||||||
|
raise ValueError("direction_text must be a non-empty string")
|
||||||
|
|
||||||
|
for prefix in ("向", "正"):
|
||||||
|
if text.startswith(prefix):
|
||||||
|
text = text[len(prefix):]
|
||||||
|
|
||||||
|
if text in _DIRECTION_TEXT_DIAGONALS_ESU:
|
||||||
|
x, y = _DIRECTION_TEXT_DIAGONALS_ESU[text]
|
||||||
|
length = math.hypot(x, y)
|
||||||
|
return x / length, y / length
|
||||||
|
|
||||||
|
if text in ("东", "西", "南", "北"):
|
||||||
|
if text == "东":
|
||||||
|
return 1.0, 0.0
|
||||||
|
if text == "西":
|
||||||
|
return -1.0, 0.0
|
||||||
|
if text == "南":
|
||||||
|
return 0.0, 1.0
|
||||||
|
return 0.0, -1.0
|
||||||
|
|
||||||
|
match = re.match(r"^(南|北)偏(东|西)(\d+(?:\.\d+)?)度?$", text)
|
||||||
|
if match:
|
||||||
|
base_dir, toward_dir, angle_str = match.groups()
|
||||||
|
angle_deg = float(angle_str)
|
||||||
|
if angle_deg < 0 or angle_deg > 90:
|
||||||
|
raise ValueError("angle must be between 0 and 90 degrees")
|
||||||
|
angle_rad = math.radians(angle_deg)
|
||||||
|
x_sign = 1.0 if toward_dir == "东" else -1.0
|
||||||
|
if base_dir == "南":
|
||||||
|
return math.sin(angle_rad) * x_sign, math.cos(angle_rad)
|
||||||
|
return math.sin(angle_rad) * x_sign, -math.cos(angle_rad)
|
||||||
|
|
||||||
|
raise ValueError(f"unsupported direction_text: {direction_text}")
|
||||||
|
|
||||||
|
|
||||||
|
def calc_offset_esu_direction_text(
|
||||||
|
base: Dict[str, float], direction_text: str, distance: float
|
||||||
|
) -> Dict[str, float]:
|
||||||
|
"""在ESU坐标系下按中文方位偏移固定距离。"""
|
||||||
|
if distance < 0:
|
||||||
|
raise ValueError("distance must be non-negative")
|
||||||
|
if not isinstance(base, dict):
|
||||||
|
raise ValueError("base must be an object with x/y/z")
|
||||||
|
|
||||||
|
try:
|
||||||
|
x = float(base["x"])
|
||||||
|
y = float(base["y"])
|
||||||
|
z = float(base["z"])
|
||||||
|
except Exception as exc:
|
||||||
|
raise ValueError("base must contain numeric x/y/z") from exc
|
||||||
|
|
||||||
|
dx_unit, dy_unit = _parse_direction_text_esu(direction_text)
|
||||||
|
offset_x = x + dx_unit * distance
|
||||||
|
offset_y = y + dy_unit * distance
|
||||||
|
|
||||||
|
return {"x": offset_x, "y": offset_y, "z": z}
|
||||||
|
|||||||
Reference in New Issue
Block a user